Bayley Wang / Mbed 2 deprecated priustroller_3

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Dependencies:   mbed

Fork of priustroller_2 by N K

Diff: main.cpp

Revision:
34:bfe180de813a
Parent:
33:e7b132029bae
Child:
35:83cf9564bd0c
diff -r e7b132029bae -r bfe180de813a main.cpp
--- a/main.cpp	Mon Mar 16 03:09:48 2015 +0000
+++ b/main.cpp	Mon Mar 16 04:58:35 2015 +0000
@@ -11,11 +11,11 @@
     Context *context = new Context();
     context->ConfigureOutputs(D6, D13, D3, D8);
     context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f);
-    context->ConfigureIdPidController(0.01f, 0.8f, 0.0f, 2.0f, -2.0f);
-    context->ConfigureIqPidController(0.01f, 0.8f, 0.0f, 2.0f, -2.0f);
+    context->ConfigureIdPidController(0.0f, 0.0f, 0.0f, 1.0f, -1.0f);
+    context->ConfigureIqPidController(0.001f, 0.0f, 0.0f, 1.0f, -1.0f);
     context->ConfigureThrottle(A0, 0.8f, 3.0f);
     context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f);
-    context->ConfigureReference(5.0f);
+    context->ConfigureReference(5.0f);  // max phase current
     context->ConfigureDebugger(2, 1000);
     context->AttachCallBack(&fast, 5000);
     context->AttachCallBack(&slow, 10);