ergoCub: lower pitch and roll head PID gains to avoid overshoot (#424)

robotology · Jan 31, 2023 · cab7ff8 · cab7ff8
1 parent eafb3be
commit cab7ff8
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc.xml b/ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc.xml
@@ -47,9 +47,9 @@
         <param name="outputType">               pwm             </param>
         <param name="fbkControlUnits">          metric_units    </param>
         <param name="outputControlUnits">       machine_units   </param>
-        <param name="kp">                       -537        +571        </param>
-        <param name="kd">                       -17         +14         </param>
-        <param name="ki">                       -2822       +2923       </param>
+        <param name="kp">                       -512        +535        </param>
+        <param name="kd">                       -15         +14         </param>
+        <param name="ki">                       -1621       +1670       </param>
         <param name="maxOutput">                3360        3360        </param>
         <param name="maxInt">                   3360        3360        </param>
         <param name="stictionUp">               0           0           </param>