Issue #17: additional PID and period settings

Author: makssvelichko

KPI_Rover/Encoders/ulEncoder.c

@@ -13,7 +13,7 @@
 static uint16_t lastTicks_RPM[MOTORS_COUNT];
 static uint16_t lastTicks_ROS[MOTORS_COUNT];
 
-static uint16_t encoder_period_ms = 20;
+static uint16_t encoder_period_ms = 5;
 static float encoder_ticks_per_rev = 820.0f;
 
 static osTimerId_t encoderTimerHandle;
@@ -46,7 +46,7 @@ void ulEncoder_Init(void) {
 	drvEncoder_Init();
 
 	if (!ulDatabase_getUint16(ENCODER_CONTROL_PERIOD_MS, &encoder_period_ms) || encoder_period_ms == 0) {
-		encoder_period_ms = 20;
+		encoder_period_ms = 5;
 	}
 
 	if (!ulDatabase_getFloat(ENCODER_TICKS_PER_REVOLUTION, &encoder_ticks_per_rev) || encoder_ticks_per_rev < 1.0f) {

KPI_Rover/Motors/ulGD.c

@@ -2,11 +2,19 @@
 #include <math.h>
 #include <stdbool.h>
 
+/**
+ * @file ulGD.c
+ * @brief Online Gradient Descent (GD) Auto-tuner for PID Controllers.
+ *
+ * This module implements an adaptive learning algorithm based on the MIT Rule / Gradient Descent.
+ * It automatically adjusts PID gains (Kp, Ki) in real-time to minimize error.
+ */
+
 void ulGD_Init(ulGD_t* gd)
 {
     /* Tuning Speed */
-    gd->alpha_p = 0.005f;   // Kp learning rate
-    gd->alpha_i = 0.0005f;  // Ki learning rate
+    gd->alpha_p = 0.001f;   // Kp learning rate
+    gd->alpha_i = 0.0001f;  // Ki learning rate
 
     /* Safety Limits */
     gd->kp_min = 0.040f;

KPI_Rover/Motors/ulMotorsController.c

@@ -10,7 +10,7 @@
 
 static osTimerId_t motors_timer_handle;
 
-#define MOTORS_CONTROL_PERIOD_MS 20
+#define MOTORS_CONTROL_PERIOD_MS 5
 
 const float dt_sec = MOTORS_CONTROL_PERIOD_MS / 1000.0f;
 
@@ -129,10 +129,9 @@ void ulMotorsController_Init(ulMotorsController_t* ctrl)
 
 		ulPID_Init(&ctrl->pids[i], kp, ki, kd);
 
-		ctrl->pids[i].deadzone = 0.02f;
+		ctrl->pids[i].deadzone = 0.05f;
 		ctrl->pids[i].slew_rate = 25.0f;
-		ctrl->pids[i].d_alpha = 0.2f;
-		ctrl->pids[i].sp_alpha = 0.1f;
+		ctrl->pids[i].d_alpha = 0.05f;
 
 		ulGD_Init(&ctrl->gd[i]);
 
@@ -348,6 +347,6 @@ void ulMotorsController_Task(void* argument)
 
    		ulMotorsController_UpdateFromDB(&g_motors_ctrl);
 
-   	    osDelay(10);
+   	    osDelay(20);
    	}
 }