From a814d13fec773a818243efff4fca54e9b0086ccb Mon Sep 17 00:00:00 2001 From: Langevin Gael Date: Wed, 11 Oct 2023 11:10:16 +0200 Subject: [PATCH] Update InMoov2Config.java --- .../myrobotlab/service/config/InMoov2Config.java | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java index cec6f5e54b..af16e23a04 100644 --- 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"));