Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: defaults.h
- Revision:
- 240:2aaffa217627
- Parent:
- 191:66861311bdcd
- Child:
- 243:96b03b3bf3ef
--- a/defaults.h Sat Nov 10 11:59:50 2018 +0000 +++ b/defaults.h Sun Nov 11 12:34:19 2018 +0000 @@ -45,6 +45,9 @@ #define K_LOOP_Q 1.75f #define KI_BASE_Q 0.01f +#define K_LOOP_W 0.0f +#define KI_BASE_W 0.0f + #define F_SLOW_LOOP 50.0f #define INTEGRAL_MAX 1.5f @@ -94,6 +97,9 @@ used to filter velocity (rad/s)*/ #define W_CRAZY 2000.0f +/*maximum setpoint in speed mode*/ +#define W_SETPOINT_MAX 1500.0f + /*---rc throttle---*/ #define TH_PIN PB_8