Bayley Wang
/
priustroller_3
temp repo
Fork of priustroller_2 by
Diff: main.cpp
- Revision:
- 32:4e1a223fad52
- Parent:
- 31:86b87913d8e1
- Child:
- 33:e7b132029bae
--- a/main.cpp Sun Mar 15 02:21:32 2015 +0000 +++ b/main.cpp Mon Mar 16 02:43:19 2015 +0000 @@ -18,8 +18,8 @@ Context *context = new Context(); context->ConfigureOutputs(D6, D13, D3, D8); context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f); - context->ConfigureIdPidController(0.0000f, 0.0f, 0.0f, 5.0f, -5.0f); - context->ConfigureIqPidController(0.0001f, 0.1f, 0.0f, 5.0f, -5.0f); + context->ConfigureIdPidController(0.0001f, 0.0f, 0.0f, 5.0f, -5.0f); + context->ConfigureIqPidController(0.00001f, 0.1f, 0.0f, 5.0f, -5.0f); context->ConfigureThrottle(A0, 0.8f, 3.0f); context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f); // I guess this configures the ADCs or something context->ConfigureReference(5.0f);