ENPRA_Foot / Mbed 2 deprecated Nucleo_Motor_5_1_without_XBee

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Dependencies:   mbed M3_CAN_mbed

Diff: param.h

Revision:
8:046f2fa83033
Parent:
4:d07f3b8a627e
Child:
10:6f83a7083bbc
diff -r f733e8c05730 -r 046f2fa83033 param.h
--- a/param.h	Fri Dec 13 14:41:25 2019 +0000
+++ b/param.h	Thu Jan 23 04:42:37 2020 +0000
@@ -5,14 +5,14 @@
 #define Kp 1
 #define Ki 10000
 #define k 1 //mass ratio human vs human(or robot)
-#define SE 30
+#define SE 40
 
-#define CALIBRATION_FORCE       1.0f
-#define CALIBRATION_SPEED       20000
-#define CALIBRATION_TOE         0.03f
+#define CALIBRATION_FORCE       2.0f
+#define CALIBRATION_SPEED       50000
+#define CALIBRATION_TOE         0.1f
 #define CALIBRATION_THUMBALL    0.1f
-#define CALIBRATION_LITTLEBALL  0.1f
-#define CALIBRATION_HEAL        0.1f
+#define CALIBRATION_LITTLEBALL  0.2f
+#define CALIBRATION_HEAL        0.3f
 #define CALIBRATION_FORCE_TOE           (CALIBRATION_FORCE * CALIBRATION_TOE)
 #define CALIBRATION_FORCE_THUMBBALL     (CALIBRATION_FORCE * CALIBRATION_THUMBALL)
 #define CALIBRATION_FORCE_LITTLEBALL    (CALIBRATION_FORCE * CALIBRATION_LITTLEBALL)