Diff: main.h

Revision:

3:7b195612e26d

Parent:

1:7b5469bf5994

--- a/main.h	Tue Jul 28 01:42:16 2020 +0000
+++ b/main.h	Tue Dec 08 01:27:11 2020 +0000
@@ -5,6 +5,8 @@
 bool motor_onoff[6]={true,true,true,true,true,true};
 int encoder_data[6]={0,0,0,0,0,0};
 
+double motor_gain[6]={1,1,1,1,1,1};
+
 double Speed_Pgain[6]={ 3,
                         3,
                         3,
@@ -12,12 +14,12 @@
                         3,
                         3};
                         
-double Speed_Igain[6]={ 0.01,
-                        0.01,
-                        0.01,
-                        0.01,
-                        0.01,
-                        0.01};
+double Speed_Igain[6]={ 0.001,
+                        0.001,
+                        0.001,
+                        0.001,
+                        0.001,
+                        0.001};
                         
 double position_Pgain[6]
                      ={ 10,
@@ -80,6 +82,7 @@
 #define MOTOR_PWM6      PA_10
 #define MOTOR_PWM7      PB_11
 
+#include "idle_check.h"
 #include "flash.h"
 #include "spi_setup.h"
 #include "pc_serial.h"
@@ -90,7 +93,6 @@
 #include "Position.h"
 #include "limit.h"
 #include "button.h"
-#include "idle_check.h"
 
 
 void board_init()
@@ -125,7 +127,6 @@
     spi_init();
     motor_init();
     Serial_Init();
-    Idle_Check_Init();
     
 }