Improved tuning for turning secondary controler

ksiegall · ksiegall · commit 411fbc43625c · 2024-02-08T10:40:47.000-05:00
diff --git a/XRPLib/differential_drive.py b/XRPLib/differential_drive.py
@@ -253,7 +253,7 @@ def turn(self, turn_degrees: float, max_effort: float = 0.5, timeout: float = No
         # Secondary controller to keep encoder values in sync
         if secondary_controller is None:
             secondary_controller = PID(
-                kp = 0.2,
+                kp = 0.5,
             )
  
         if use_imu and (self.imu is not None):

Original file line number	Diff line number	Diff line change
`@@ -253,7 +253,7 @@ def turn(self, turn_degrees: float, max_effort: float = 0.5, timeout: float = No`
`253`	`253`	`# Secondary controller to keep encoder values in sync`
`254`	`254`	`if secondary_controller is None:`
`255`	`255`	`secondary_controller = PID(`
`256`		`- kp = 0.2,`
	`256`	`+ kp = 0.5,`
`257`	`257`	`)`
`258`	`258`
`259`	`259`	`if use_imu and (self.imu is not None):`