Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: config_loop.h
- Revision:
- 57:fe85b52e223d
- Parent:
- 56:c681001dfa46
- Child:
- 58:7316c5a4c417
--- a/config_loop.h Wed Jan 25 22:19:55 2017 +0000 +++ b/config_loop.h Sat Jan 28 01:56:28 2017 +0000 @@ -16,7 +16,7 @@ #define DQ_FILTER_STRENGTH 0.0f /*internally computed*/ -#define KP (K_LOOP / BUS_VOLTAGE * 5000.0f / F_SW) +#define KP (K_LOOP / BUS_VOLTAGE) #define KI (KI_BASE * K_LOOP / BUS_VOLTAGE * 5000.0f / F_SW) #define SLOW_LOOP_COUNTER ((int) (F_SW / F_SLOW_LOOP))