Diff: Config/current_controller_config.h

Revision:

22:60276ba87ac6

Parent:

20:bf9ea5125d52

Child:

23:2adf23ee0305

--- a/Config/current_controller_config.h	Thu Mar 02 15:31:45 2017 +0000
+++ b/Config/current_controller_config.h	Fri Mar 31 18:24:46 2017 +0000
@@ -1,14 +1,14 @@
 #ifndef CURRENT_CONTROLLER_CONFIG_H
 #define CURRENT_CONTROLLER_CONFIG_H
 
-#define K_D .5f   //V/A
-#define K_Q .5f   //V/A
-#define KI_D 0.04f  //1/samples
-#define KI_Q 0.04f  //1/samples
-#define V_BUS 14.0f
+#define K_D .02f                     // Volts/Amp
+#define K_Q .02f                     // Volts/Amp
+#define KI_D 0.04f                  // 1/samples
+#define KI_Q 0.04f                  // 1/samples
+#define V_BUS 14.0f                 // Volts
 
-#define D_INT_LIM V_BUS/(K_D*KI_D)  //A*samples
-#define Q_INT_LIM V_BUS/(K_Q*KI_Q)  //A*samples
+#define D_INT_LIM V_BUS/(K_D*KI_D)  // Amps*samples
+#define Q_INT_LIM V_BUS/(K_Q*KI_Q)  // Amps*samples