Chun Feng Huang / CURRENT_CONTROL

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Fork of CURRENT_CONTROL by LDSC_Robotics_TAs

Files at this revision

API Documentation at this revision

Revision 17:7f16cc2e46fc, committed 2017-01-04

Comitter:
benson516
Date:
Wed Jan 04 14:39:07 2017 +0000
Parent:
16:6e3bcd373f9d
Child:
18:76383af914dc
Commit message:
Change the cut-off frequency of the current filter

Changed in this revision

CURRENT_CONTROL.cpp Show annotated file Show diff for this revision Revisions of this file 
--- 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
 
 
 {