Análisis con histograma del PID

Robotito/include/control.h

@@ -40,9 +40,9 @@
 
 #define TICS_TO_RAD_S RAD_PER_TICK/OMNI_ODOM_CTRL_TIMER
 
-#define KP 0.05
-#define KI 0.05
-#define KD 0.0
+#define KP 0.09 //0.09
+#define KI 0.020 //0.05
+#define KD 0.00
 #define KF MAX_SPEED_POWER/MAX_SPEED_TICS
 
 typedef struct {