Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol
Dependencies: mbed-dev-f303 FastPWM3
Superseded by: https://github.com/bgkatz/motorcontrol
Diff: CAN/CAN_com.cpp
- Revision:
- 55:c4c9fec8539c
- Parent:
- 54:59575833d16f
diff -r 59575833d16f -r c4c9fec8539c CAN/CAN_com.cpp --- a/CAN/CAN_com.cpp Thu Aug 08 17:39:43 2019 +0000 +++ b/CAN/CAN_com.cpp Fri Oct 04 14:18:39 2019 +0000 @@ -1,10 +1,10 @@ #include "CAN_com.h" - #define P_MIN -95.5f - #define P_MAX 95.5f - #define V_MIN -45.0f - #define V_MAX 45.0f + #define P_MIN -12.5f + #define P_MAX 12.5f + #define V_MIN -65.0f + #define V_MAX 65.0f #define KP_MIN 0.0f #define KP_MAX 500.0f #define KD_MIN 0.0f