Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: defaults.h

Revision:
243:96b03b3bf3ef
Parent:
240:2aaffa217627
--- a/defaults.h	Mon Nov 12 10:58:59 2018 +0000
+++ b/defaults.h	Mon Nov 12 11:16:43 2018 +0000
@@ -45,9 +45,6 @@
 #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
@@ -97,9 +94,6 @@
   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
@@ -110,4 +104,11 @@
 
 #define W_STEP 150.f
 
+/*---speed mode---*/
+
+#define K_LOOP_W 0.0f
+#define KI_BASE_W 0.0f
+#define W_SETPOINT_MAX 1500.0f
+#define W_LOOP_MAX_TQ 1.0f
+
 #endif
\ No newline at end of file