Changes between Version 3 and Version 4 of ControlSystems/SoftwareTeam/Training/GettingStarted/ClosedLoopControl/PWMCode

Timestamp:

Nov 12, 2019, 7:51:45 PM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/ClosedLoopControl/PWMCode

@@ -94 +94 @@
     if (!autoDone) {
       // adjust motor power every 1/4 second to keep us going straight
-      if (autoTimer.hasPeriodPassed(0.25)) {
+      if (autoTimer.hasPeriodPassed(0.125)) {
         // if we're going straight, leftDistance == rightDistance
         // otherwise, compute the error and adjust the motor powers to minimize it
         double error = leftEncoder.getDistance() - rightEncoder.getDistance();
-        double kP = 0.01; // proportion of error used to correct motor power
+        double kP = 0.005; // proportion of error used to correct motor power
         // adjust motor power to try to keep left/right distances same
         leftPower  -= kP*error; // positive error means left is going too fast