Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: config_loop.h
- Revision:
- 74:f10cb573d7ca
- Parent:
- 73:d44bc3a46942
- Child:
- 75:591556ce033d
--- a/config_loop.h Mon Feb 20 12:37:21 2017 +0000 +++ b/config_loop.h Fri Feb 24 13:03:34 2017 +0000 @@ -9,15 +9,7 @@ #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 +#define F_SLOW_LOOP 1000.0f #define INTEGRAL_MAX 1.0f @@ -25,7 +17,11 @@ higher = stronger filtering*/ #define W_FILTER_STRENGTH 0.99f #define DQ_FILTER_STRENGTH 0.95f -#define THROTTLE_FILTER_STRENGTH 0.0f +#define THROTTLE_FILTER_STRENGTH_LOW 0.99f +#define THROTTLE_FILTER_STRENGTH_HI 0.0f + +/*reduce filtering past this point for performance reasons*/ +#define THROTTLE_FILTER_THRESHOLD 0.25f /*internally computed*/ #define KP_D (K_LOOP_D / BUS_VOLTAGE)