Diff: main.cpp

Revision:

53:ef62d7a958f2

Parent:

51:14112834b067

Child:

54:e8d9bc885723

--- a/main.cpp	Sun Apr 26 10:52:08 2015 +0000
+++ b/main.cpp	Sat May 02 00:21:00 2015 +0000
@@ -11,12 +11,12 @@
     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(0.0001f, 0.0f, 0.0f, 1.0f, -1.0f);
-    context->ConfigureIqPidController(0.0001f, 0.0f, 0.0f, 1.0f, -1.0f);
-    context->ConfigureThrottle(A0, 0.9f, 2.5f, 0.8f);  //last term is LPF strength
+    context->ConfigureIdPidController(0.00005f, 0.0f, 0.0f, 1.0f, -1.0f);
+    context->ConfigureIqPidController(0.00005f, 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, 205.0f);
-    context->ConfigureReference(200.0f);  // max phase current
-    context->ConfigureDebugger(1, 2000);
+    context->ConfigureReference(300.0f);  // max phase current
+    context->ConfigureDebugger(4, 2000);
     context->AttachCallBack(&fast, 5000);
     context->AttachCallBack(&slow, 10);
     context->AttachCallBack(&debug, 10);