feat: Add conditional PID gain configuration for newer hardware revis…

…ions
tinymovr · Dec 8, 2024 · 54c1105 · 54c1105
1 parent 14e391c
commit 54c1105
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/studio/Python/tests/test_board.py b/studio/Python/tests/test_board.py
@@ -98,6 +98,11 @@ def test_d_position_control(self):
         self.check_state(0)
         self.tm.controller.current.Iq_limit = 5
         self.try_calibrate()
+        if hw_rev > 20:
+            self.tm.controller.position.p_gain = 5
+            self.tm.controller.velocity.p_gain = 2e-5
+            self.tm.controller.velocity.i_gain = 0
+
         self.tm.controller.position_mode()
         self.check_state(2)