Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: config_driving.h

Revision:
42:030e0ec4eac5
Parent:
40:22aede3d096f
--- a/config_driving.h	Thu Jan 05 05:54:20 2017 +0000
+++ b/config_driving.h	Fri Jan 06 07:54:22 2017 +0000
@@ -3,15 +3,16 @@
 
 #define TORQUE_MODE true
 
-/*driving and braking torque limits, Nm*/
-#define FORWARD_TORQUE_MAX 75.0f
-#define REVERSE_TORQUE_MAX -20.0f
+/*forward torque scaling*/
+#define MAX_TQPCT_PLUS 1.0f
 
-/*forward and regen power limits, W*/
-#define P_FORWARD_MAX 20000.0f
-#define P_REVERSE_MAX 4000.0f
+/*reverse/regen torque scaling*/
+#define MAX_TQPCT_MINUS 0.3f
+
+/*maximum torque for approximate methods*/
+#define TORQUE_MAX 75.0f
 
 /*max speed, including any field weakening, rad/s*/
-#define W_MAX 800.0f
+#define W_MAX 1000.0f
 
 #endif
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