knob: Adjust velocity PID params for SPRING and DAMPED mode

xingrz · Jan 17, 2023 · e1a44af · e1a44af
1 parent f473a79
commit e1a44af
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/config/drivers/sensor/knob/knob.c b/config/drivers/sensor/knob/knob.c
@@ -187,15 +187,15 @@ void knob_set_mode(const struct device *dev, enum knob_mode mode)
 		motor_set_enable(config->motor, true);
 		motor_set_torque_limit(config->motor, 1.5f);
 		mc->mode = ANGLE;
-		motor_set_velocity_pid(config->motor, 0.1f, 0.0f, 0.0f);
+		motor_set_velocity_pid(config->motor, 0.05f, 0.0f, 0.0f);
 		motor_set_angle_pid(config->motor, 100.0f, 0.0f, 3.5f);
 		mc->target = 4.2f;
 	} break;
 	case KNOB_DAMPED: {
 		motor_set_enable(config->motor, true);
 		motor_set_torque_limit(config->motor, 1.5f);
 		mc->mode = VELOCITY;
-		motor_set_velocity_pid(config->motor, 0.1f, 0.0f, 0.0f);
+		motor_set_velocity_pid(config->motor, 0.05f, 0.0f, 0.0f);
 		mc->target = 0.0f;
 	} break;
 	case KNOB_SPIN: {