Diff: main.cpp

Revision:

35:83cf9564bd0c

Parent:

34:bfe180de813a

Child:

36:11766b5da6ed

--- a/main.cpp	Mon Mar 16 04:58:35 2015 +0000
+++ b/main.cpp	Mon Mar 16 15:40:07 2015 +0000
@@ -11,12 +11,12 @@
     Context *context = new Context();
     context->ConfigureOutputs(D6, D13, D3, D8);
     context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f);
-    context->ConfigureIdPidController(0.0f, 0.0f, 0.0f, 1.0f, -1.0f);
+    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(5.0f);  // max phase current
-    context->ConfigureDebugger(2, 1000);
+    context->ConfigureReference(3.0f);  // max phase current
+    context->ConfigureDebugger(2, 2000);
     context->AttachCallBack(&fast, 5000);
     context->AttachCallBack(&slow, 10);
     context->AttachCallBack(&debug, 10);