Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: config_loop.h
- Revision:
- 62:581aa9235ad6
- Parent:
- 60:22338b6c7a6e
- Child:
- 63:f6fd98888e6a
- Child:
- 64:b4175385d718
diff -r 85a31897e719 -r 581aa9235ad6 config_loop.h --- a/config_loop.h Sat Jan 28 08:57:42 2017 +0000 +++ b/config_loop.h Sat Jan 28 09:10:07 2017 +0000 @@ -3,11 +3,19 @@ #include "config_inverter.h" +#define K_LOOP_D 2.5f +#define KI_BASE_D 0.025f + +#define K_LOOP_Q 6.0f +#define KI_BASE_Q 0.01f + +/* #define K_LOOP_D 1.0f #define KI_BASE_D 0.01f #define K_LOOP_Q 1.0f #define KI_BASE_Q 0.01f +*/ #define F_SLOW_LOOP 100.0f