Diff: Parameters_ps3.h

Revision:

15:49ed1bbf3c1d

Parent:

14:a99f81878336

--- a/Parameters_ps3.h	Wed Sep 16 08:11:06 2015 +0000
+++ b/Parameters_ps3.h	Wed Sep 16 09:35:19 2015 +0000
@@ -13,34 +13,33 @@
 /**
  * PID parameters.
  */
-
-/***Move PID controller***/
-#define MOVE_R_INPUT_LIMIT_BOTTOM -100.0
-#define MOVE_R_INPUT_LIMIT_TOP 100.0
-#define MOVE_R_OUTPUT_LIMIT_BOTTOM -1.0
-#define MOVE_R_OUTPUT_LIMIT_TOP 1.0
-#define MOVE_R_BIAS 0.0
-#define MOVE_R_Kc 0.15
-#define MOVE_R_TAUi 0.05
-#define MOVE_R_TAUd 0.0
-
-#define MOVE_L_INPUT_LIMIT_BOTTOM -100.0
-#define MOVE_L_INPUT_LIMIT_TOP 100.0
-#define MOVE_L_OUTPUT_LIMIT_BOTTOM -1.0
-#define MOVE_L_OUTPUT_LIMIT_TOP 1.0
-#define MOVE_L_BIAS 0.0
-#define MOVE_L_Kc 0.15
-#define MOVE_L_TAUi 0.05
-#define MOVE_L_TAUd 0.0
+//velocity
+#define MOVE_VELOCITY_INPUT_LIMIT_BOTTOM    -200000.0
+#define MOVE_VELOCITY_INPUT_LIMIT_TOP       200000.0
+#define MOVE_VELOCITY_OUTPUT_LIMIT_BOTTOM   -1.0
+#define MOVE_VELOCITY_OUTPUT_LIMIT_TOP      1.0
+#define MOVE_VELOCITY_BIAS                  0.0
+#define MOVE_VELOCITY_Kc                    18.0
+#define MOVE_VELOCITY_TAUi                  5274.0
+#define MOVE_VELOCITY_TAUd                  0.0
+//direction
+#define MOVE_DIRECTION_INPUT_LIMIT_BOTTOM   -10.0
+#define MOVE_DIRECTION_INPUT_LIMIT_TOP      10.0
+#define MOVE_DIRECTION_OUTPUT_LIMIT_BOTTOM  -1.0
+#define MOVE_DIRECTION_OUTPUT_LIMIT_TOP     1.0
+#define MOVE_DIRECTION_BIAS                 0.0
+#define MOVE_DIRECTION_Kc                   1.8
+#define MOVE_DIRECTION_TAUi                 527.4
+#define MOVE_DIRECTION_TAUd                 0.0
 
 /**
  * Motor Parameters.
  */
 
 /***Move motor period us.***/
-#define MOVE_R_PERIOD_US 125
-#define MOVE_L_PERIOD_US 125
-#define SWING_PERIOD_US 125
+#define MOVE_R_PERIOD_US    125
+#define MOVE_L_PERIOD_US    125
+#define SWING_PERIOD_US     125
 
 /////////////////////////////////////////////////////////////////////////
 /////////////////////////////////////////////////////////////////////////