From e936c49c32f705e461ffdea4eb9f343f64956a01 Mon Sep 17 00:00:00 2001
From: Zhiying Li <zhiyingli@g.ucla.edu>
Date: Wed, 10 Nov 2021 15:32:11 -0800
Subject: [PATCH] upload new constants based on the field test

---
 Code/Control/Laptop_Code/constants.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/Code/Control/Laptop_Code/constants.py b/Code/Control/Laptop_Code/constants.py
index 9480d97..29a9ce3 100644
--- a/Code/Control/Laptop_Code/constants.py
+++ b/Code/Control/Laptop_Code/constants.py
@@ -30,15 +30,15 @@ Bmin = 31
 Bmax = 127
 threshold = [Lmin, Lmax, Amin, Amax, Bmin, Bmax]
 
-base_speed    = 120
+base_speed    = 100
 seeking_speed =  50
 LIDAR_Thres   = 300 # mm
 
 
 # PID Control in move2ball
-kpx,kix,kdx = 1.2, 0.01, 0.5
+kpx,kix,kdx = 0.8, 0.01, 0.2
 # kpx,kix,kdx = 0.0, 0.00, 0.0
-kpy,kiy,kdy = 1.2, 0.05, 0.9
+kpy,kiy,kdy = 0.9, 0.1, 0.2
 # kpy,kiy,kdy = 0.0, 0.0, 0.0
 
 # PID Control in move2goal
@@ -59,7 +59,7 @@ kph,kih,kdh = 1.2,0.01,0.5
 AT_detectBreak = 60
 
 url_gb = 'http://10.0.0.2/cam-hi.jpg'
-url_AT = 'http://10.0.0.6/cam-hi.jpg'
+url_AT = 'http://10.0.0.4/cam-hi.jpg'
 
 ml = 1
 esp_cam_on = 1
-- 
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