changed the PID value based on the field test

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