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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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:
46:2d4b1dafcfe3
Parent:
44:8040fa2fcb0d
Child:
47:e1196a851f76
--- a/Config/current_controller_config.h	Wed Jun 27 03:44:44 2018 +0000
+++ b/Config/current_controller_config.h	Thu Jul 12 02:50:34 2018 +0000
@@ -8,7 +8,7 @@
 #define KI_D 0.0255f                // PI zero, in radians per sample
 #define KI_Q 0.0255f                // PI zero, in radians per sample
 #define V_BUS 24.0f                 // Volts
-#define OVERMODULATION 1.2f         // 1.0 = no overmodulation
+#define OVERMODULATION 1.4f         // 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