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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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:
20:bf9ea5125d52
Child:
22:60276ba87ac6
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Config/current_controller_config.h	Thu Mar 02 15:31:23 2017 +0000
@@ -0,0 +1,15 @@
+#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 D_INT_LIM V_BUS/(K_D*KI_D)  //A*samples
+#define Q_INT_LIM V_BUS/(K_Q*KI_Q)  //A*samples
+
+
+
+#endif