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UbiquityRobotics / ubiquity_motor

Package that provides a ROS interface for the motors in UbiquityRobotics robots
BSD 3-Clause "New" or "Revised" License
24 stars 23 forks source link

PID tunning needed for magni robot #119

Open JanezCim opened 3 years ago

JanezCim commented 3 years ago

Someone should take a magni robot and tune the PID motor node parameters found in base.yaml. Currently we it is drivable but it could be better

cst0 commented 2 years ago

For what it's worth-- I found that adjusting the P value to 15000, I to 0, and D to -30 was fairly stable and effectively eliminated the PID backlash that I was observing with the default PID values.