Diff: Config/current_controller_config.h

Revision:

67:96a4052a1705

Parent:

66:3947255b18c5

Child:

69:ba1c89835a54

diff -r 3947255b18c5 -r 96a4052a1705 Config/current_controller_config.h
--- a/Config/current_controller_config.h	Fri Jan 29 20:39:36 2021 +0000
+++ b/Config/current_controller_config.h	Tue Feb 09 16:30:11 2021 +0000
@@ -5,10 +5,10 @@
 #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 0.002f                // 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 KI_D 0.01f                // PI zero, in radians per sample
+#define KI_Q 0.01f                // PI zero, in radians per sample
+#define V_BUS 60.0f                 // 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