Straight works better for smaller distances

Author: KalticCodes

XRPLib/differential_drive.py

@@ -153,8 +153,8 @@ def straight(self, distance: float, max_effort: float = 0.5, timeout: float = No
             main_controller = PID(
                 kp = 0.1,
                 ki = 0.04,
-                kd = 0.06,
-                min_output = 0.25,
+                kd = 0.04,
+                min_output = 0.3,
                 max_output = max_effort,
                 max_integral = 10,
                 tolerance = 0.25,
@@ -164,7 +164,7 @@ def straight(self, distance: float, max_effort: float = 0.5, timeout: float = No
         # Secondary controller to keep encoder values in sync
         if secondary_controller is None:
             secondary_controller = PID(
-                kp = 0.075, kd=0.005,
+                kp = 0.075, kd=0.001,
             )
 
         if self.imu is not None: