Important: the controllers have been reworked in 2018. Their internal dividers have been changed and they now use 10x bigger gains. If you are using old firmware do not try the gains listed below!

The right gains depend on your application and your system. The values listed below are only provided as an example to give you an idea of the range. Use them for 2018+ systems.

• kp: 10 - 100
• ki: 1 - 32
• Recently used combos at Dephy vary wildly: [20, 10], [100, 1] and [100, 20] for benchtop experiments, [100, 32] for walking controllers.

• kp: 20 - 200. Higher tends to be better.
• ki: 0 - 20
• Recently used combos at Dephy: [50, 3] for benchtop experiments, [200, 0] for applications.