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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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:
51:6cd89bd6fcaa
Parent:
49:83d83040ea51
Child:
52:8e74c22ed89f
Child:
55:c4c9fec8539c
--- a/Config/current_controller_config.h	Thu Apr 04 13:53:58 2019 +0000
+++ b/Config/current_controller_config.h	Wed Jul 17 03:40:12 2019 +0000
@@ -13,10 +13,6 @@
 #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                 // Max Current
-#define I_MAX_FW 10.0f               // Max field weakening current
-#define I_MAX_CONT 15.0f            // Max continuous current, for thermal limiting
-
 //Observer//
 #define DT 0.000025f
 #define K_O 0.02f