Chun Feng Huang / CURRENT_CONTROL

Motor current controller

Fork of CURRENT_CONTROL by LDSC_Robotics_TAs

Diff: CURRENT_CONTROL.cpp

Revision:
17:7f16cc2e46fc
Parent:
16:6e3bcd373f9d
Child:
18:76383af914dc
diff -r 6e3bcd373f9d -r 7f16cc2e46fc CURRENT_CONTROL.cpp
--- a/CURRENT_CONTROL.cpp	Wed Jan 04 10:43:41 2017 +0000
+++ b/CURRENT_CONTROL.cpp	Wed Jan 04 14:39:07 2017 +0000
@@ -52,7 +52,7 @@
     MotorMinus(PwmChannel2),
     wheelSpeed(QEI_A, QEI_B, NC, pulsesPerRev, arraysize, samplingTime, QEI::X4_ENCODING), //(pin1, pin2, pin3, pulsesPerRev, arraysize, sampletime, pulses)
     pid(0.0,0.0,0.0,samplingTime),
-    lpFilter(samplingTime, 70.0) // 1.5915 Hz = 10 rad/s
+    lpFilter(samplingTime, 200.0) // 1.5915 Hz = 10 rad/s
 
 
 {