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Adjust library BALANCING for Zumo 32U4 (with 100:1 HP motor)


I have the Zumo 32U4 Robot (with 100:1 HP motor), but the library only used for Zumo 32U4 (with 75:1 HP motor). I would like to modify the Zumo 32U4 to make it Balance. How do I adjust the code?



The constants used for the P, I, and D terms in the PID algorithm are on line 220 in our “Balancing” example sketch. We do not have any specific advice for what you might tune them to, but I expect you will have to make the constants larger for a 100:1 robot.