From ca2747e4e2c046fc5f0f12abc525dcf15e7ac036 Mon Sep 17 00:00:00 2001
From: Zhiying Li <zhiyingli@g.ucla.edu>
Date: Sun, 31 Oct 2021 23:22:39 -0700
Subject: [PATCH] upload constants based on last field test

---
 Code/Control/Laptop_Code/constants.py | 19 ++++++++++++-------
 1 file changed, 12 insertions(+), 7 deletions(-)

diff --git a/Code/Control/Laptop_Code/constants.py b/Code/Control/Laptop_Code/constants.py
index 336b1d4..9c7c47b 100644
--- a/Code/Control/Laptop_Code/constants.py
+++ b/Code/Control/Laptop_Code/constants.py
@@ -30,22 +30,27 @@ Bmin = 31
 Bmax = 127
 threshold = [Lmin, Lmax, Amin, Amax, Bmin, Bmax]
 
-base_speed    = 70
-seeking_speed = 100
+base_speed    = 120
+seeking_speed =  70
 LIDAR_Thres   = 300 # mm
 
 
 
 # PID Control in move2ball
-kpx,kix,kdx = 1.5, 0.01, 0.5
-kpy,kiy,kdy = 1.2, 0.01, 0.5
+kpx,kix,kdx = 1.2, 0.01, 0.5
+# kpx,kix,kdx = 0.0, 0.00, 0.0
+kpy,kiy,kdy = 1.2, 0.05, 0.9
+# kpy,kiy,kdy = 0.0, 0.0, 0.0
 
 # PID Control in move2goal
-kpx_g,kix_g,kdx_g = 1.5, 0.01, 0.5
-kpy_g,kiy_g,kdy_g = 1.2, 0.01, 0.5
+# kpx_g,kix_g,kdx_g = 1.5, 0.01, 0.5
+kpx_g,kix_g,kdx_g = 2, 0.01, 0.7
+# kpx_g,kix_g,kdx_g = 0.0, 0.0, 0.0
+kpy_g,kiy_g,kdy_g = 1.7, 0.01, 0.7
+# kpy_g,kiy_g,kdy_g = 0.0, 0.0, 0.0
 
 # difference between center of AT and center of goal
-AT_goal_Delta = 110 #cm
+AT_goal_Delta =  0 #cm
 
 AT_h1 = 50 # meters
 
-- 
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