Diff: Config/current_controller_config.h

Revision:

57:d18e3d25ed8a

Parent:

55:c4c9fec8539c

--- a/Config/current_controller_config.h	Thu Oct 10 15:03:12 2019 +0000
+++ b/Config/current_controller_config.h	Wed Dec 09 06:33:30 2020 +0000
@@ -2,16 +2,16 @@
 #define CURRENT_CONTROLLER_CONFIG_H
 
 // Current controller///
-#define K_D .05f                    // Loop gain,  Volts/Amp
-#define K_Q .05f                    // Loop gain,  Volts/Amp
+//#define K_D .05f                    // Loop gain,  Volts/Amp
+//#define K_Q .05f                    // Loop gain,  Volts/Amp
 #define K_SCALE 0.0001f             // K_loop/Loop BW (Hz) 0.0042
 #define KI_D 0.0455f                // PI zero, in radians per sample
 #define KI_Q 0.0455f                // PI zero, in radians per sample
 #define V_BUS 24.0f                 // Volts
 #define OVERMODULATION 1.15f        // 1.0 = no overmodulation
-
-#define D_INT_LIM V_BUS/(K_D*KI_D)  // Amps*samples
-#define Q_INT_LIM V_BUS/(K_Q*KI_Q)  // Amps*samples
+//
+//#define D_INT_LIM V_BUS/(K_D*KI_D)  // Amps*samples
+//#define Q_INT_LIM V_BUS/(K_Q*KI_Q)  // Amps*samples
 
 //Observer//
 #define DT 0.000025f