N K
/
GaNtroller
a fork of priustroller
Fork of priustroller_current by
Diff: main.cpp
- Revision:
- 37:09373294ff22
- Parent:
- 36:11766b5da6ed
- Child:
- 38:232c51b6853f
diff -r 11766b5da6ed -r 09373294ff22 main.cpp --- a/main.cpp Thu Apr 16 04:08:47 2015 +0000 +++ b/main.cpp Thu Apr 16 07:12:36 2015 +0000 @@ -11,12 +11,12 @@ Context *context = new Context(); context->ConfigureOutputs(D13, D3, D6, D2); context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f); - 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->ConfigureIdPidController(0.00001f, 0.0f, 0.0f, 1.0f, -1.0f); + context->ConfigureIqPidController(0.00001f, 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->ConfigureDebugger(1, 4000); context->AttachCallBack(&fast, 5000); context->AttachCallBack(&slow, 10); context->AttachCallBack(&debug, 10);