From 99294666158f8173cb398f7eb26dc783daf292d0 Mon Sep 17 00:00:00 2001
From: RicardoEA <ricardo@focus.uy>
Date: Fri, 4 Nov 2022 15:15:22 -0300
Subject: [PATCH] =?UTF-8?q?An=C3=A1lisis=20con=20histograma=20del=20PID?=
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---
Robotito/include/control.h | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/Robotito/include/control.h b/Robotito/include/control.h
index bdbce58..84bceae 100644
--- a/Robotito/include/control.h
+++ b/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 {
--
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