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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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:
55:c4c9fec8539c
Parent:
51:6cd89bd6fcaa
--- a/Config/current_controller_config.h	Thu Aug 08 17:39:43 2019 +0000
+++ b/Config/current_controller_config.h	Fri Oct 04 14:18:39 2019 +0000
@@ -5,8 +5,8 @@
 #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 KI_D 0.0455f                // PI zero, in radians per sample
+#define KI_Q 0.0455f                // PI zero, in radians per sample
 #define V_BUS 24.0f                 // Volts
 #define OVERMODULATION 1.15f        // 1.0 = no overmodulation