Diff: main.cpp

Revision:

36:11766b5da6ed

Parent:

35:83cf9564bd0c

Child:

37:09373294ff22

--- a/main.cpp	Mon Mar 16 15:40:07 2015 +0000
+++ b/main.cpp	Thu Apr 16 04:08:47 2015 +0000
@@ -9,14 +9,14 @@
 
 int main() { 
     Context *context = new Context();
-    context->ConfigureOutputs(D6, D13, D3, D8);
+    context->ConfigureOutputs(D13, D3, D6, D2);
     context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f);
-    context->ConfigureIdPidController(0.001f, 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(3.0f);  // max phase current
-    context->ConfigureDebugger(2, 2000);
+    context->ConfigureIdPidController(0.0008f, 0.0f, 0.0f, 1.0f, -1.0f);
+    context->ConfigureIqPidController(0.0008f, 0.0f, 0.0f, 1.0f, -1.0f);
+    context->ConfigureThrottle(A0, 0.9f, 2.5f, 0.8f);  //last term is LPF strength
+    context->ConfigurePositionSensor(A3, A4, 0.366f, 0.655f, 0.355f, 0.626f, 205.0f);
+    context->ConfigureReference(80.0f);  // max phase current
+    context->ConfigureDebugger(1, 2000);
     context->AttachCallBack(&fast, 5000);
     context->AttachCallBack(&slow, 10);
     context->AttachCallBack(&debug, 10);