Diff: Config/current_controller_config.h

Revision:

70:2ea6c555a2cb

Parent:

69:ba1c89835a54

Child:

71:b314182de37f

--- a/Config/current_controller_config.h	Wed Feb 10 21:29:13 2021 +0000
+++ b/Config/current_controller_config.h	Thu Apr 01 18:23:53 2021 +0000
@@ -2,12 +2,12 @@
 #define CURRENT_CONTROLLER_CONFIG_H
 
 // Current controller///
-#define K_D .02f                    // Loop gain,  Volts/Amp
-#define K_Q .02f                    // Loop gain,  Volts/Amp
-#define K_SCALE 0.0001f             // K_loop/Loop BW (Hz) 0.0042
-#define KI_D 0.0195f                // PI zero, in radians per sample
-#define KI_Q 0.0195f                // PI zero, in radians per sample
-#define V_BUS 60.0f                 // Volts
+#define K_D  0.13319f                    // Loop gain,  Volts/Amp
+#define K_Q  0.13319f                    // Loop gain,  Volts/Amp
+#define K_SCALE 0.00013310f             // K_loop/Loop BW (Hz) 0.0042
+#define KI_D 0.0373f                // PI zero, in radians per sample
+#define KI_Q 0.0373f                // PI zero, in radians per sample
+#define V_BUS 48.0f                 // Volts
 #define OVERMODULATION 1.15f        // 1.0 = no overmodulation
 
 #define D_INT_LIM V_BUS/(K_D*KI_D)  // Amps*samples