Diff: Config/current_controller_config.h

Revision:

66:3947255b18c5

Parent:

55:c4c9fec8539c

Child:

67:96a4052a1705

--- a/Config/current_controller_config.h	Thu Nov 26 04:31:14 2020 +0000
+++ b/Config/current_controller_config.h	Fri Jan 29 20:39:36 2021 +0000
@@ -2,13 +2,13 @@
 #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 .01f                    // Loop gain,  Volts/Amp
+#define K_Q .01f                    // 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 KI_D 0.002f                // PI zero, in radians per sample
+#define KI_Q 0.002f                // PI zero, in radians per sample
+#define V_BUS 30.0f                 // Volts
+#define OVERMODULATION 1.0f        // 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