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update pid

This commit is contained in:
Richie 2023-11-20 10:54:19 +08:00
parent c10e67c9cb
commit 1def053dc0
1 changed files with 3 additions and 3 deletions
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6
frtos/motor/motor_init.h
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@ -38,9 +38,9 @@ motor_init(car_struct_t *car_struct)
g_right_sem = xSemaphoreCreateBinary(); g_right_sem = xSemaphoreCreateBinary();
car_struct->p_pid->use_pid = true; car_struct->p_pid->use_pid = true;
car_struct->p_pid->kp_value = 600.f; car_struct->p_pid->kp_value = 60.f;
car_struct->p_pid->ki_value = 66.67f; car_struct->p_pid->ki_value = 6.67f;
car_struct->p_pid->kd_value = 1350.f; car_struct->p_pid->kd_value = 135.f;
// initialize the car_struct // initialize the car_struct
car_struct->p_left_motor->pwm.level = 0u; car_struct->p_left_motor->pwm.level = 0u;