update forward and backward control data

bigbearishappy · Dec 29, 2017 · 5f87178 · 5f87178
1 parent 3d92d30
commit 5f87178
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/sourcecode/source_code/APP/pid.c b/sourcecode/source_code/APP/pid.c
@@ -79,8 +79,8 @@ int32_t PID_Cal_Speed(pid_s *p, int32_t current,int32_t target,unsigned char whi
 		else if(RIGHT_WHEEL == which_wheel)
 			spd_length_r+= (int32_t)temp;
 	}
-#define TEMP1_F	30	 
-#define TEMP1_B 3
+#define TEMP1_F	20	 
+#define TEMP1_B 2
 	if(LEFT_WHEEL == which_wheel){
 		if(target == 1){
 			spd_length_l += ADD_VALUE_FB;

diff --git a/sourcecode/source_code/APP/pid.h b/sourcecode/source_code/APP/pid.h
@@ -7,8 +7,8 @@
 #define LEFT_WHEEL	0x4c//'L' 's ascii code is 0x4c
 #define RIGHT_WHEEL	0x52//'R' 's ascii code is 0x52
 
-#define ADD_VALUE_LR	0.4
-#define ADD_VALUE_FB	0.1//1
+#define ADD_VALUE_LR	0.3
+#define ADD_VALUE_FB	0.05//1
 
 typedef struct PID
 {