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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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:
35:69b24894c11d
Parent:
34:51647c6c500d
Child:
37:c0f352d6e8e3
--- a/Config/current_controller_config.h	Wed Nov 08 15:18:18 2017 +0000
+++ b/Config/current_controller_config.h	Sat Nov 18 18:41:42 2017 +0000
@@ -3,7 +3,7 @@
 
 #define K_D .05f                     // Volts/Amp
 #define K_Q .05f                     // Volts/Amp
-#define K_SCALE 0.00043f            // K_loop/Loop BW (Hz)
+#define K_SCALE 0.0001f            // K_loop/Loop BW (Hz) 0.0042
 #define KI_D 0.0255f                  // 1/samples
 #define KI_Q 0.0255f                  // 1/samples
 #define V_BUS 24.0f                 // Volts