Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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:
- 34:51647c6c500d
- Parent:
- 29:0dbc822dd29a
- Child:
- 35:69b24894c11d
diff -r 3ab3cce8b44d -r 51647c6c500d Config/current_controller_config.h --- a/Config/current_controller_config.h Wed Aug 30 18:10:27 2017 +0000 +++ b/Config/current_controller_config.h Wed Nov 08 15:18:18 2017 +0000 @@ -3,9 +3,9 @@ #define K_D .05f // Volts/Amp #define K_Q .05f // Volts/Amp -#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 K_SCALE 0.00043f // K_loop/Loop BW (Hz) +#define KI_D 0.0255f // 1/samples +#define KI_Q 0.0255f // 1/samples #define V_BUS 24.0f // Volts #define D_INT_LIM V_BUS/(K_D*KI_D) // Amps*samples