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update pid default parameters

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This commit is contained in:
Ilya Uraev 2025-05-29 13:45:28 +03:00
parent 5fa3db6e6c
commit 10c7da1107
1 changed files with 6 additions and 4 deletions
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10
controller/fw/embed/src/config.cpp
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@ -45,13 +45,15 @@ void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
motor->foc_modulation = FOCModulationType::SpaceVectorPWM;
// PID Configuration
motor->PID_velocity.P = 0.75f;
motor->PID_velocity.I = 20.0f;
motor->LPF_velocity.Tf = 0.005f;
motor->PID_velocity.P = 0.5f;
motor->PID_velocity.I = 2.0f;
motor->PID_velocity.D = 0.0f;
motor->LPF_velocity.Tf = 0.01f;
motor->P_angle.P = p;
motor->P_angle.I = i;
motor->P_angle.D = d;
motor->LPF_angle.Tf = 0.001f;
motor->LPF_angle.Tf = 0.02f;
// Motor limits
motor->velocity_limit = 40; // Speed limit in rad/s (382 rpm)