pbio/platform/motors: tweak settings
Make the angular motors a bit stiffer when holding position.
@@ -93,9 +93,9 @@ static const pbio_control_settings_t settings_servo_technic_m_angular = {
.count_tolerance = 10,
.stall_rate_limit = 20,
.stall_time = 200 * US_PER_MS,
- .pid_kp = 13000,
- .pid_ki = 1300,
- .pid_kd = 1300,
+ .pid_kp = 20000,
+ .pid_ki = 2000,
+ .pid_kd = 1200,
.integral_range = 45,
.integral_rate = 5,
.max_control = 160000,
@@ -123,9 +123,9 @@ static const pbio_control_settings_t settings_servo_technic_l_angular = {
.count_tolerance = 10,
.stall_rate_limit = 20,
.stall_time = 200 * US_PER_MS,
- .pid_kp = 30000,
- .pid_ki = 4000,
- .pid_kd = 4000,
+ .pid_kp = 25000,
+ .pid_ki = 6000,
+ .pid_kd = 4500,
.integral_range = 45,
.integral_rate = 5,
.max_control = 330000,
