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Issue #33: Setting new default pid coeficient values #34

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taketook34 wants to merge 2 commits into from
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Issue #33: Setting new default pid coeficient values #34

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6e6c9ea
Issue #33: Setting up default PID values in main.cpp
taketook34 Sep 25, 2025
ec04499
Issue #33: Fixing code style erros
taketook34 Sep 25, 2025
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25 changes: 5 additions & 20 deletions src/kpi_rover_ecu/src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,7 @@ int main(int argc, char* argv[]) {

// Command-line options
int opt = 0;
while ((opt = getopt(argc, argv, "a:p:l:o:q:w:e:")) != -1) {
while ((opt = getopt(argc, argv, "a:p:l:o:")) != -1) {
switch (opt) {
case 'a':
server_address = optarg;
Expand All @@ -62,15 +62,6 @@ int main(int argc, char* argv[]) {
case 'o':
logging_directory = optarg;
break;
case 'q':
coef_p = strtof(optarg, nullptr);
break;
case 'w':
coef_i = strtof(optarg, nullptr);
break;
case 'e':
coef_d = strtof(optarg, nullptr);
break;
default:
std::cout << "Usage: " << argv[0];
std::cout << " [-a server_address] ";
Expand Down Expand Up @@ -105,17 +96,11 @@ int main(int argc, char* argv[]) {

MotorController motors_processor;
const uint8_t kMotorNumber = 4;
// const std::vector<MotorConfig> kShassisVector = {
// MotorConfig(3, false, {1.5, 0.056, 1.5}),
// MotorConfig(4, false, {1.5, 0.056, 1.5}),
// MotorConfig(1, true, {1.5, 0.056, 1.5}),
// MotorConfig(2, true, {1.5, 0.056, 1.5}),
// };
const std::vector<MotorConfig> kShassisVector = {
MotorConfig(3, false, {coef_p, coef_i, coef_d}),
MotorConfig(4, false, {coef_p, coef_i, coef_d}),
MotorConfig(1, true, {coef_p, coef_i, coef_d}),
MotorConfig(2, true, {coef_p, coef_i, coef_d}),
MotorConfig(3, false, {3.5, 0.2, 21}),
MotorConfig(4, false, {3.5, 0.2, 21}),
MotorConfig(1, true, {3.5, 0.2, 21}),
MotorConfig(2, true, {3.5, 0.2, 21}),
};

motors_processor.Init(kShassisVector, kMotorNumber);
Expand Down
2 changes: 1 addition & 1 deletion src/kpi_rover_ecu/src/motor.cpp
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Expand Up @@ -28,7 +28,7 @@ int Motor::MotorGo(int newRPM) {
LOG_WARNING << "RPM out of range for motor" << motorNumber_;
newRPM = -kMaxRpm;
}

if (MotorSet(newRPM) == -1) {
LOG_ERROR << "MotorSet failed";
return -1;
Expand Down
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