Ben Katz / HKC_MiniCheetah

Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol

Dependencies:   mbed-dev-f303 FastPWM3

Superseded by: https://github.com/bgkatz/motorcontrol

Diff: Config/current_controller_config.h

Revision:
23:2adf23ee0305
Parent:
22:60276ba87ac6
Child:
25:f5741040c4bb
--- a/Config/current_controller_config.h	Fri Mar 31 18:24:46 2017 +0000
+++ b/Config/current_controller_config.h	Wed Apr 05 20:54:16 2017 +0000
@@ -1,11 +1,11 @@
 #ifndef CURRENT_CONTROLLER_CONFIG_H
 #define CURRENT_CONTROLLER_CONFIG_H
 
-#define K_D .02f                     // Volts/Amp
-#define K_Q .02f                     // Volts/Amp
+#define K_D .05f                     // Volts/Amp
+#define K_Q .05f                     // Volts/Amp
 #define KI_D 0.04f                  // 1/samples
 #define KI_Q 0.04f                  // 1/samples
-#define V_BUS 14.0f                 // Volts
+#define V_BUS 24.0f                 // Volts
 
 #define D_INT_LIM V_BUS/(K_D*KI_D)  // Amps*samples
 #define Q_INT_LIM V_BUS/(K_Q*KI_Q)  // Amps*samples