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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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:
25:f5741040c4bb
Parent:
23:2adf23ee0305
Child:
26:2b865c00d7e9
--- a/Config/current_controller_config.h	Fri Apr 07 16:23:39 2017 +0000
+++ b/Config/current_controller_config.h	Sun Apr 09 03:05:52 2017 +0000
@@ -3,8 +3,9 @@
 
 #define K_D .05f                     // Volts/Amp
 #define K_Q .05f                     // Volts/Amp
-#define KI_D 0.04f                  // 1/samples
-#define KI_Q 0.04f                  // 1/samples
+#define K_SCALE 0.0001f            // K_loop/Loop BW (Hz)
+#define KI_D 0.06f                  // 1/samples
+#define KI_Q 0.06f                  // 1/samples
 #define V_BUS 24.0f                 // Volts
 
 #define D_INT_LIM V_BUS/(K_D*KI_D)  // Amps*samples