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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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:
34:51647c6c500d
Parent:
29:0dbc822dd29a
Child:
35:69b24894c11d
--- a/Config/current_controller_config.h	Wed Aug 30 18:10:27 2017 +0000
+++ b/Config/current_controller_config.h	Wed Nov 08 15:18:18 2017 +0000
@@ -3,9 +3,9 @@
 
 #define K_D .05f                     // Volts/Amp
 #define K_Q .05f                     // Volts/Amp
-#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 K_SCALE 0.00043f            // K_loop/Loop BW (Hz)
+#define KI_D 0.0255f                  // 1/samples
+#define KI_Q 0.0255f                  // 1/samples
 #define V_BUS 24.0f                 // Volts
 
 #define D_INT_LIM V_BUS/(K_D*KI_D)  // Amps*samples