vlues Kp Ki Kd

ros_ws/low_level/low_level/speed_controller.py

@@ -28,8 +28,8 @@ class SpeedController(Node):
         Kp_initial = 1.5
         self.gains = {
             'Kp': Kp_initial,
-            'Ki': 0,      
-            'Kd': 0       
+            'Ki': (Kp_initial/(1/4+1/8))/2,      
+            'Kd': (Kp_initial/(1/10+1/4))/2       
         }
         self.pid_controller_x = PID(self.gains)
         self.pid_controller_y = PID(self.gains)