Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: config_loop.h

Revision:
113:bae8e944f756
Parent:
101:4f322f608280
Child:
120:57b6f3b1356b
--- a/config_loop.h	Fri Apr 21 01:23:59 2017 +0000
+++ b/config_loop.h	Sat Apr 22 05:18:51 2017 +0000
@@ -3,10 +3,10 @@
 
 #include "config_inverter.h"
 
-#define K_LOOP_D 0.75f
+#define K_LOOP_D 2.5f//0.75f
 #define KI_BASE_D 0.025f
 
-#define K_LOOP_Q 1.75f
+#define K_LOOP_Q 6.0f//1.75f
 #define KI_BASE_Q 0.01f
 
 #define F_SLOW_LOOP 100.0f
@@ -15,7 +15,7 @@
 
 /*filter strengths, 0-1.0
   higher = stronger filtering*/
-#define W_FILTER_STRENGTH 0.99f
+#define W_FILTER_STRENGTH 0.9f
 #define DQ_FILTER_STRENGTH 0.80f
 #define THROTTLE_FILTER_STRENGTH 0.90f