Ben Katz
Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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:
- 52:8e74c22ed89f
- Parent:
- 51:6cd89bd6fcaa
--- a/Config/current_controller_config.h Wed Jul 17 03:40:12 2019 +0000 +++ b/Config/current_controller_config.h Sun Jul 21 21:42:49 2019 +0000 @@ -4,9 +4,9 @@ // Current controller/// #define K_D .05f // Loop gain, Volts/Amp #define K_Q .05f // Loop gain, Volts/Amp -#define K_SCALE 0.0001f // K_loop/Loop BW (Hz) 0.0042 -#define KI_D 0.0255f // PI zero, in radians per sample -#define KI_Q 0.0255f // PI zero, in radians per sample +#define K_SCALE 0.0004f // K_loop/Loop BW (Hz) 0.0042 +#define KI_D 0.031f // PI zero, in radians per sample +#define KI_Q 0.031f // PI zero, in radians per sample #define V_BUS 24.0f // Volts #define OVERMODULATION 1.15f // 1.0 = no overmodulation