Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

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