Aditya Mehrotra / SPIne_Plus_DYNO

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Dependencies:   mbed-dev

Diff: main.cpp

Revision:
14:8a7fd1ebc209
Parent:
13:ad3ca70bf929
Child:
15:d3c93f01a02b
--- a/main.cpp	Tue Jul 20 19:34:16 2021 +0000
+++ b/main.cpp	Mon Aug 30 15:47:18 2021 +0000
@@ -29,9 +29,10 @@
  #define KP_MIN 0.0f
  #define KP_MAX 500.0f
  #define KD_MIN 0.0f
- #define KD_MAX 5.0f
- #define T_MIN -18.0f
- #define T_MAX 18.0f
+ #define KD_MAX 10.0f
+ #define T_MIN -72.0f
+ #define T_MAX 72.0f
+
  
  /// Joint Soft Stops ///
  #define A1_LIM_P 1.5f