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

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merged 1 commit into from
May 17, 2023
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ergocub: increase head pitch and roll position PID gains #510

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6 changes: 3 additions & 3 deletions ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
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