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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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:
26:2b865c00d7e9
Parent:
25:f5741040c4bb
Child:
28:8c7e29f719c5
--- a/Config/current_controller_config.h	Sun Apr 09 03:05:52 2017 +0000
+++ b/Config/current_controller_config.h	Mon May 01 15:22:58 2017 +0000
@@ -6,11 +6,13 @@
 #define K_SCALE 0.0001f            // K_loop/Loop BW (Hz)
 #define KI_D 0.06f                  // 1/samples
 #define KI_Q 0.06f                  // 1/samples
-#define V_BUS 24.0f                 // Volts
+#define V_BUS 17.0f                 // 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
 
+#define I_MAX 40.0f
+
 
 
 #endif