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chore: Tune sentry gimbal PID params and add steering wheel integral …#99

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Merged
creeper5820 merged 1 commit into from
Jul 31, 2026
Merged

chore: Tune sentry gimbal PID params and add steering wheel integral … #99

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23 changes: 20 additions & 3 deletions rmcs_ws/src/rmcs_bringup/config/sentry.yaml
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Original file line numberDiff line numberDiff line change
Expand Up@@ -41,7 +41,7 @@ auto_aim_capturer:
ros__parameters:
camera_name: ""
exposure_us: 3000.0
gain: 8.0
gain: 10.0
framerate: 120.0
invert_image: true
rls_tau_sec: 10.0
Expand DownExpand Up@@ -102,14 +102,14 @@ gimbal_controller:
upper_limit: -0.65
lower_limit: 0.36

top_yaw_angle_kp: 25.0
top_yaw_angle_kp: 30.0
top_yaw_angle_ki: 0.008
top_yaw_angle_kd: 0.005
top_yaw_velocity_kp: 2.160
top_yaw_velocity_ki: 0.00
top_yaw_velocity_kd: 0.0

bottom_yaw_angle_kp: 12.0
bottom_yaw_angle_kp: 15.0
bottom_yaw_angle_ki: 0.01
bottom_yaw_angle_kd: 0.0
bottom_yaw_velocity_kp: 2.75
Expand All@@ -123,6 +123,21 @@ gimbal_controller:
pitch_velocity_ki: 0.0
pitch_velocity_kd: 0.0

top_yaw_angle_integral_min: -187.0
top_yaw_angle_integral_max: 187.0
top_yaw_velocity_integral_min: -2400.0
top_yaw_velocity_integral_max: 2400.0

bottom_yaw_angle_integral_min: -150.0
bottom_yaw_angle_integral_max: 150.0
bottom_yaw_velocity_integral_min: -2400.0
bottom_yaw_velocity_integral_max: 2400.0

pitch_angle_integral_min: -150.0
pitch_angle_integral_max: 150.0
pitch_velocity_integral_min: -2400.0
pitch_velocity_integral_max: 2400.0

chassis_controller:
ros__parameters:
angular_velocity_max: 10.0
Expand DownExpand Up@@ -252,10 +267,12 @@ steering_wheel_controller:
chassis_translation_kp: 20.0
chassis_translation_ki: 0.00
chassis_translation_kd: 0.00
chassis_translation_integral_limit: 200.0

chassis_angular_velocity_kp: 8.0
chassis_angular_velocity_ki: 0.005
chassis_angular_velocity_kd: 1.0
chassis_angular_velocity_integral_limit: 200.0

steering_velocity_kp: 0.15
steering_velocity_ki: 0.0
Expand Down
12 changes: 12 additions & 0 deletions rmcs_ws/src/rmcs_core/src/controller/chassis/steering_wheel_controller.cpp
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Original file line numberDiff line numberDiff line change
Expand Up@@ -96,6 +96,18 @@ class SteeringWheelController
"/chassis/right_back_wheel/control_torque", right_back_wheel_control_torque_);
register_output(
"/chassis/right_front_wheel/control_torque", right_front_wheel_control_torque_);

double translation_integral_limit;
if (get_parameter("chassis_translation_integral_limit", translation_integral_limit)) {
chassis_translational_velocity_pid_.integral_min.setConstant(-translation_integral_limit);
chassis_translational_velocity_pid_.integral_max.setConstant(+translation_integral_limit);
}

double angular_velocity_integral_limit;
if (get_parameter("chassis_angular_velocity_integral_limit", angular_velocity_integral_limit)) {
chassis_angular_velocity_pid_.integral_min = -angular_velocity_integral_limit;
chassis_angular_velocity_pid_.integral_max = +angular_velocity_integral_limit;
}
}

void update() override {
Expand Down