Diff: Config/current_controller_config.h

Revision:

34:47a55f96fbc4

Parent:

29:0dbc822dd29a

--- a/Config/current_controller_config.h	Wed Aug 30 18:10:27 2017 +0000
+++ b/Config/current_controller_config.h	Mon Oct 02 00:55:39 2017 +0000
@@ -1,11 +1,11 @@
 #ifndef CURRENT_CONTROLLER_CONFIG_H
 #define CURRENT_CONTROLLER_CONFIG_H
 
-#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_D 5.0f                     // Volts/Amp
+#define K_Q 5.0f                     // Volts/Amp
+#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