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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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:
37:c0f352d6e8e3
Parent:
35:69b24894c11d
Child:
44:8040fa2fcb0d
--- a/Config/current_controller_config.h	Fri Mar 02 15:24:00 2018 +0000
+++ b/Config/current_controller_config.h	Fri Apr 13 13:50:54 2018 +0000
@@ -1,6 +1,7 @@
 #ifndef CURRENT_CONTROLLER_CONFIG_H
 #define CURRENT_CONTROLLER_CONFIG_H
 
+// Current controller///
 #define K_D .05f                     // Volts/Amp
 #define K_Q .05f                     // Volts/Amp
 #define K_SCALE 0.0001f            // K_loop/Loop BW (Hz) 0.0042
@@ -13,6 +14,11 @@
 
 #define I_MAX 40.0f
 
+//Observer//
+#define DT 0.000025f
+#define K_O 0.02f
+
+
 
 
 #endif