@@ -42,14 +42,12 @@ Challenging the advice Phillippe Hurbain we tried to change the surface on which
#### Experimenting with PID Constant Values
The native constants of Brian Bagnall's PID, allowed the robot to balance for a few seconds, which we didn't find satisfying. Through trial-and-error we've narrowed in on the following constants, which gave us increased performance:
**Power = 40** (proportional error values).
**Integral = 10** (accumulating errors)
**Differential = 40** (change in error over time)
**Scale = 18** (direct scaling of the entire error value, can be useful with different battery levels)
