Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: defaults.h
- Revision:
- 243:96b03b3bf3ef
- Parent:
- 240:2aaffa217627
diff -r ac30f04fd6f7 -r 96b03b3bf3ef defaults.h --- 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