Merge pull request #2 from 2194555/master

Update extend arm logic.
rm-controls · Apr 17, 2024 · 80cda70 · 80cda70
2 parents c81a6ef + 0bc6162
commit 80cda70
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diff --git a/engineer_middleware/config/engineer.yaml b/engineer_middleware/config/engineer.yaml
@@ -1,9 +1,9 @@
 chassis:
   x:
-    pid: { p: 0.0, i: 0.0, d: 0.0, i_clamp_max: 0, i_clamp_min: 0, antiwindup: true, publish_state: true }
+    pid: { p: 4.5, i: 0.0, d: 0.2, i_clamp_max: 0, i_clamp_min: 0, antiwindup: true, publish_state: true }
   y:
-    pid: { p: 0.0, i: 0.0, d: 0.0, i_clamp_max: 0, i_clamp_min: 0, antiwindup: true, publish_state: true }
+    pid: { p: 4.5, i: 0.0, d: 0.2, i_clamp_max: 0, i_clamp_min: 0, antiwindup: true, publish_state: true }
   yaw:
-    pid: { p: 3., i: 0.0, d: 0.1, i_clamp_max: 0, i_clamp_min: 0, antiwindup: true, publish_state: true }
+    pid: { p: 5., i: 0.0, d: 0.05, i_clamp_max: 0, i_clamp_min: 0, antiwindup: true, publish_state: true }
   yaw_start_threshold: 0.05
   max_vel: 0.1