Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: config_loop.h

Revision:
52:fd3d8df99287
Parent:
44:3fd6a43b91f0
Child:
56:c681001dfa46
--- a/config_loop.h	Sun Jan 22 05:23:01 2017 +0000
+++ b/config_loop.h	Wed Jan 25 02:08:10 2017 +0000
@@ -10,6 +10,9 @@
 
 #define INTEGRAL_MAX 1.0f
 
+/*integral decay, fraction per switching cycle*/
+#define INTEGRAL_DECAY 0.0005f
+
 /*filter strengths, 0-1.0
   higher = stronger filtering*/
 #define W_FILTER_STRENGTH 0.99f