platform/motors/settings: Increase default motor torque.
With recent motor control improvements, these motors can
have much higher (more powerful) default control gains without
making the motors unstable.
@@ -89,9 +89,9 @@ static const pbio_control_settings_t settings_technic_s_angular = {
.count_tolerance = 10,
.stall_rate_limit = 20,
.stall_time = 200 * US_PER_MS,
- .pid_kp = 5000,
- .pid_kd = 800,
- .integral_rate = 25,
+ .pid_kp = 7500,
+ .pid_kd = 1000,
+ .integral_rate = 15,
.use_estimated_rate = true,
};
@@ -114,9 +114,9 @@ static const pbio_control_settings_t settings_technic_m_angular = {
.count_tolerance = 10,
.stall_rate_limit = 20,
.stall_time = 200 * US_PER_MS,
- .pid_kp = 10000,
- .pid_kd = 1200,
- .integral_rate = 25,
+ .pid_kp = 15000,
+ .pid_kd = 1800,
+ .integral_rate = 15,
.use_estimated_rate = true,
};
@@ -139,9 +139,9 @@ static const pbio_control_settings_t settings_technic_l_angular = {
.count_tolerance = 10,
.stall_rate_limit = 20,
.stall_time = 200 * US_PER_MS,
- .pid_kp = 25000,
- .pid_kd = 4500,
- .integral_rate = 5,
+ .pid_kp = 35000,
+ .pid_kd = 6000,
+ .integral_rate = 15,
.use_estimated_rate = true,
};
@@ -164,9 +164,9 @@ static const pbio_control_settings_t settings_interactive = {
.count_tolerance = 5,
.stall_rate_limit = 15,
.stall_time = 200 * US_PER_MS,
- .pid_kp = 10000,
- .pid_kd = 1000,
- .integral_rate = 3,
+ .pid_kp = 13500,
+ .pid_kd = 1350,
+ .integral_rate = 10,
.use_estimated_rate = true,
};
@@ -218,8 +218,8 @@ static const pbio_control_settings_t settings_technic_l = {
.count_tolerance = 10,
.stall_rate_limit = 20,
.stall_time = 200 * US_PER_MS,
- .pid_kp = 4000,
- .pid_kd = 1000,
+ .pid_kp = 20000,
+ .pid_kd = 2500,
.integral_rate = 5,
.use_estimated_rate = true,
};
@@ -243,8 +243,8 @@ static const pbio_control_settings_t settings_technic_xl = {
.count_tolerance = 10,
.stall_rate_limit = 20,
.stall_time = 200 * US_PER_MS,
- .pid_kp = 4000,
- .pid_kd = 2000,
+ .pid_kp = 17500,
+ .pid_kd = 2500,
.integral_rate = 5,
.use_estimated_rate = true,
};
