Aditya Mehrotra / SPIne_Plus_DYNO

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed-dev

Diff: main.cpp

Revision:
14:8a7fd1ebc209
Parent:
13:ad3ca70bf929
Child:
15:d3c93f01a02b
diff -r ad3ca70bf929 -r 8a7fd1ebc209 main.cpp
--- 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