Update InMoov2Config.java

MyRobotLab · Oct 11, 2023 · a814d13 · a814d13
1 parent 7c17176
commit a814d13
Showing 1 changed file with 8 additions and 6 deletions.
diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java
@@ -344,23 +344,25 @@ public Plan getDefault(Plan plan, String name) {
     PidConfig pid = (PidConfig) plan.get(getPeerName("pid"));
 
     PidData tiltPid = new PidData();
-    tiltPid.ki = 0.001;
-    tiltPid.kp = 30.0;
+    tiltPid.ki = -0.001;
+    tiltPid.kp = -40.0;
+    tiltPid.inverted = true;
     pid.data.put(headTracking.getPeer("tilt").name, tiltPid);
 
     PidData panPid = new PidData();
     panPid.ki = 0.001;
-    panPid.kp = 15.0;
+    panPid.kp = 40.0;
     pid.data.put(headTracking.getPeer("pan").name, panPid);
 
     PidData eyeTiltPid = new PidData();
-    eyeTiltPid.ki = 0.001;
-    eyeTiltPid.kp = 10.0;
+    eyeTiltPid.ki = -0.001;
+    eyeTiltPid.kp = -30.0;
+    eyeTiltPid.inverted = true;
     pid.data.put(eyeTracking.getPeer("tilt").name, eyeTiltPid);
 
     PidData eyePanPid = new PidData();
     eyePanPid.ki = 0.001;
-    eyePanPid.kp = 10.0;
+    eyePanPid.kp = 30.0;
     pid.data.put(eyeTracking.getPeer("pan").name, eyePanPid);
 
     NeoPixelConfig neoPixel = (NeoPixelConfig) plan.get(getPeerName("neoPixel"));