TuxMonkey/half-steering-basic-framework
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Zorua
2026-01-17 18:39:27 +08:00
parent 26f210da12
commit 734d04ec10
4 changed files with 6 additions and 6 deletions
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6
application/chassis/chassis.c
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@@ -151,10 +151,10 @@ void ChassisInit()
motor_steering_lf = DJIMotorInit(&chassis_motor_steering_config);
PID_Init_Config_s chassis_follow_pid_conf = {
.Kp = 20, // 6
.Kp = 6, // 6
.Ki = 0,
.Kd = 3, // 0.5
.DeadBand = 0.5f,
.Kd = 0.495, // 0.5
// .DeadBand = 0.5f,
//.CoefA = 0.2,
//.CoefB = 0.3,
//.Improve = PID_Trapezoid_Intergral | PID_DerivativeFilter | PID_DerivativeFilter | PID_Derivative_On_Measurement | PID_Integral_Limit | PID_Derivative_On_Measurement,