Matti Borchers / Mbed 2 deprecated mbed_amf_controlsystem_iO_copy

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Dependencies:   mbed-rtos mbed

Fork of mbed_amf_controlsystem_iO_copy by Oliver Wenzel

Diff: Controller/QuadratureController.cpp

Revision:
12:221c9e02ea96
Parent:
6:aa27bc8c58f5
--- a/Controller/QuadratureController.cpp	Thu Feb 04 19:39:56 2016 +0000
+++ b/Controller/QuadratureController.cpp	Thu Feb 04 21:43:08 2016 +0000
@@ -10,9 +10,9 @@
 void QuadratureController::init() {
     timer_steering_angle_sampling_time = 0.01;
     
-    q_Kp = 8.166343211;
+    q_Kp = 0;
     q_Ki = 18.6661236;
-    feed_forward_control_factor = 13.37091452;
+    feed_forward_control_factor = 11.2921;
     q_esum = 0;
     feed_forward = 0;
     q_Ki_sampling_time = q_Ki * timer_steering_angle_sampling_time;