Revision fbcb25cc devices/DiWheelDrive/linefollow.hpp
| devices/DiWheelDrive/linefollow.hpp | ||
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| 118 | 118 |
// PID controller components --------------- |
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int32_t K_p = 1400; |
| 120 | 120 |
float K_i = 0.06; |
| 121 |
float K_d = 0.2;
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| 121 |
float K_d = 0.1;
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| 122 | 122 |
int32_t accumHist = 0; |
| 123 | 123 |
float oldError = 0; |
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// ---------------------------------------- |
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