diff --git a/firmware/src/loop_cathode.rs b/firmware/src/loop_cathode.rs index 884ea37..4a5139b 100644 --- a/firmware/src/loop_cathode.rs +++ b/firmware/src/loop_cathode.rs @@ -4,9 +4,9 @@ use board; use pid; const FBI_PID_PARAMETERS: pid::Parameters = pid::Parameters { - kp: 400.0, + kp: 200.0, ki: 20.0, - kd: 0.0, + kd: 10.0, output_min: 0.5, output_max: 3.1, integral_min: -0.1, @@ -14,8 +14,8 @@ const FBI_PID_PARAMETERS: pid::Parameters = pid::Parameters { }; const FV_PID_PARAMETERS: pid::Parameters = pid::Parameters { - kp: 40.0, - ki: 1.0, + kp: 20.0, + ki: 1.5, kd: 0.0, output_min: 0.0, output_max: 150.0,