better movements

[aversive.git] / projects / microb2010 / mainboard / cs.c

diff --git a/projects/microb2010/mainboard/cs.c b/projects/microb2010/mainboard/cs.c
index 516f00b..9884bcf 100644 (file)
--- a/projects/microb2010/mainboard/cs.c
+++ b/projects/microb2010/mainboard/cs.c
@@ -224,7 +224,7 @@ void microb_cs_init(void)
        position_init(&mainboard.pos);
        position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
        position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
-       position_set_centrifugal_coef(&mainboard.pos, 0.000016);
+       //      position_set_centrifugal_coef(&mainboard.pos, 0.000016);
        position_use_ext(&mainboard.pos);
 
        /* TRAJECTORY MANAGER */
@@ -240,8 +240,8 @@ void microb_cs_init(void)
        /* ---- CS angle */
        /* PID */
        pid_init(&mainboard.angle.pid);
-       pid_set_gains(&mainboard.angle.pid, 500, 10, 7000);
-       pid_set_maximums(&mainboard.angle.pid, 0, 20000, 4095);
+       pid_set_gains(&mainboard.angle.pid, 850, 30, 15000);
+       pid_set_maximums(&mainboard.angle.pid, 0, 10000, 4095);
        pid_set_out_shift(&mainboard.angle.pid, 10);
        pid_set_derivate_filter(&mainboard.angle.pid, 4);
 
@@ -266,8 +266,8 @@ void microb_cs_init(void)
        /* ---- CS distance */
        /* PID */
        pid_init(&mainboard.distance.pid);
-       pid_set_gains(&mainboard.distance.pid, 500, 10, 7000);
-       pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
+       pid_set_gains(&mainboard.distance.pid, 850, 30, 15000);
+       pid_set_maximums(&mainboard.distance.pid, 0, 10000, 4095);
        pid_set_out_shift(&mainboard.distance.pid, 10);
        pid_set_derivate_filter(&mainboard.distance.pid, 6);