Changed balance bot

DC prescaller
Example coefficients

Author: kubascikmichal

examples/RoboHeartBalanceBot/RoboHeartBalanceBot.ino

@@ -24,9 +24,9 @@
 RoboHeart heart = RoboHeart(Serial);
 
 // PID controller parameters.
-#define Kp 20
-#define Kd 0
-#define Ki 40
+#define Kp 7
+#define Ki 2
+#define Kd 0.01
 
 #define CONTROL_TICK_PERIOD_US 100.0
 
@@ -35,7 +35,7 @@ RoboHeart heart = RoboHeart(Serial);
 #define DC_CONTROL_PRESCALER 15  // Control ticks passing before DC Motor Control
 #define STATISTICS_PRESCALER \
     DC_CONTROL_PRESCALER *   \
-        4  // Control ticks passing before all the debug printing is performed
+        2  // Control ticks passing before all the debug printing is performed
 
 // Motor control parameters
 float prevAngleDeg = 0;      // Store previos angle

examples/RoboHeartBalanceBotContol/RoboHeartBalanceBotContol.ino

@@ -28,9 +28,9 @@
 RoboHeart heart = RoboHeart(Serial);
 
 // PID controller parameters.
-#define Kp 20
-#define Kd 0
-#define Ki 40
+#define Kp 7
+#define Ki 2
+#define Kd 0.01
 
 #define CONTROL_TICK_PERIOD_US 100.0  // Control tick period in micro-seconds
 

examples/RoboHeartPIDFittingExample/RoboHeartPIDFittingExample.ino

@@ -31,7 +31,7 @@ int Ki = 0;
 #define DC_CONTROL_PRESCALER 15  // Control ticks passing before DC Motor Control
 #define STATISTICS_PRESCALER \
     DC_CONTROL_PRESCALER *   \
-        4  // Control ticks passing before all the debug printing is performed
+        2  // Control ticks passing before all the debug printing is performed
 
 // Motor control parameters
 float prevAngleDeg = 0;      // Store previos angle

library.properties

@@ -1,5 +1,5 @@
 name=RoboHeart
-version=2.1.4
+version=2.1.5
 author=Augmented Robotics
 maintainer=Augmented Robotics <[email protected]>
 sentence=Arduino library for the RoboHeart