ergocub: increase head pitch and roll position PID gains (robotology#510

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mfussi66 · Jun 19, 2023 · 08c868d · 08c868d
1 parent 77a741f
commit 08c868d
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc.xml b/ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc.xml
@@ -47,9 +47,9 @@
         <param name="outputType">               pwm             </param>
         <param name="fbkControlUnits">          metric_units    </param>
         <param name="outputControlUnits">       machine_units   </param>
-        <param name="kp">                       -150        +150        </param>
-        <param name="kd">                       0           0         </param>
-        <param name="ki">                       -15         +15       </param>
+        <param name="kp">                       -180        +178        </param>
+        <param name="kd">                       -5.39       +4.64       </param>
+        <param name="ki">                       -507        +514        </param>
         <param name="maxOutput">                3360        3360        </param>
         <param name="maxInt">                   3360        3360        </param>
         <param name="stictionUp">               0           0           </param>