stock mbed AnalogReads current loop closed and working
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Diff: main.cpp
- Revision:
- 56:85a26f839af2
- Parent:
- 55:f102d271e808
--- a/main.cpp Thu May 21 02:19:25 2015 +0000 +++ b/main.cpp Sun Jan 31 06:44:58 2016 +0000 @@ -11,11 +11,11 @@ Context *context = new Context(); context->ConfigureOutputs(D13, D3, D6, D2); context->ConfigureCurrentSensors(A1, A2, 0.0016f, 0.7f); //scale in V/A, filter strength - context->ConfigureIdPidController(0.0000032f, 0.0f, 0.0f, 1.0f, -1.0f); - context->ConfigureIqPidController(0.0000032f, 0.0f, 0.0f, 1.0f, -1.0f); + context->ConfigureIdPidController(0.0000012f, 0.0f, 0.0f, 1.0f, -1.0f); + context->ConfigureIqPidController(0.0000012f, 0.0f, 0.0f, 1.0f, -1.0f); context->ConfigureThrottle(A0, 0.9f, 2.5f, 0.99f); //last term is LPF strength - context->ConfigurePositionSensor(A3, A4, 0.366f, 0.655f, 0.355f, 0.626f, 275.0f); //205 is default - context->ConfigureReference(200.0f); // max phase current + context->ConfigurePositionSensor(A3, A4, 0.366f, 0.655f, 0.355f, 0.626f, 260.0f); //205 is default + context->ConfigureReference(300.0f); // max phase current context->ConfigureDebugger(4, 2000); context->AttachCallBack(&fast, 5000); context->AttachCallBack(&slow, 10);