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pidRightCallback set the left motor's PID constants, so tuning the right wheel over the pid_right topic changed the left wheel and left the right one unchanged. Both callbacks also set the constants twice; once is enough, since updateConstants only stores kp, ki and kd.
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BaseController::pidRightCallbackin the Teensy firmware (diffbot_base/scripts/base_controller/lib/base_controller/base_controller.h) set the constants ofmotor_pid_left_. So a message onpid_rightchanged the left wheel's PID, and the right wheel kept its gains. It now updatesmotor_pid_right_.updateConstantstwice with the same values.updateConstantsonly stores kp, ki and kd, so one call does the same.Nothing in the repository publishes
pid_leftorpid_right. They're for tuning by hand, for example withrostopic puband adiffbot_msgs/PIDStampedmessage. Related: #54 (PID tuning over topics). #114 plans native firmware tests that would catch this kind of mix-up.Testing
Both boards build with PlatformIO 6.2.0 (
pio run -e teensy40 -e teensy31), and CI builds both too. Not tested on the robot.