From 39e132c1435e9ca7127dca341e1e47d937fe7d94 Mon Sep 17 00:00:00 2001
From: Zhiying Li <zhiyingli@g.ucla.edu>
Date: Wed, 27 Oct 2021 02:42:08 -0700
Subject: [PATCH] changed the PID value based on the field test

---
 Code/Control/Laptop_Code/constants.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/Code/Control/Laptop_Code/constants.py b/Code/Control/Laptop_Code/constants.py
index c066038..7d4416b 100644
--- a/Code/Control/Laptop_Code/constants.py
+++ b/Code/Control/Laptop_Code/constants.py
@@ -30,19 +30,19 @@ Bmin = 31
 Bmax = 127
 threshold = [Lmin, Lmax, Amin, Amax, Bmin, Bmax]
 
-base_speed    = 30
-seeking_speed = 70
+base_speed    = 70
+seeking_speed = 100
 LIDAR_Thres   = 300 # mm
 
 
 
 # PID Control in move2ball
-kpx,kix,kdx = 1.0, 0.01, 0.25
-kpy,kiy,kdy = 0.8, 0.01, 0.25
+kpx,kix,kdx = 1.5, 0.01, 0.5
+kpy,kiy,kdy = 1.2, 0.01, 0.5
 
 # PID Control in move2goal
-kpx_g,kix_g,kdx_g = 2.8, 0.04, 1.00
-kpy_g,kiy_g,kdy_g = 2.0, 0.04, 1.00
+kpx_g,kix_g,kdx_g = 1.5, 0.01, 0.5
+kpy_g,kiy_g,kdy_g = 1.2, 0.01, 0.5
 
 # difference between center of AT and center of goal
 AT_goal_Delta = 110 #cm
-- 
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