Michael Ernst Peter / PM2_Libary

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Dependencies:   LSM9DS1 RangeFinder FastPWM

Dependents:   PM2_Example_PES_board PM2_Example_PES_board PM2_Example_PES_board PM2_Example_PES_board ... more

Diff: PositionController.cpp

Revision:
19:518ed284d98b
Parent:
10:fe74e8909d3f
Child:
29:335fb9b01ca7
--- a/PositionController.cpp	Tue Mar 22 08:33:25 2022 +0000
+++ b/PositionController.cpp	Tue Mar 22 08:35:07 2022 +0000
@@ -2,8 +2,8 @@
 
 const float PositionController::TS = 0.001f;                       // period of 1 ms
 const float PositionController::LOWPASS_FILTER_FREQUENCY = 100.0f; // given in [rad/s]
-const float PositionController::MIN_DUTY_CYCLE = 0.02f;            // minimum duty-cycle
-const float PositionController::MAX_DUTY_CYCLE = 0.98f;            // maximum duty-cycle
+const float PositionController::MIN_DUTY_CYCLE = 0.01f;            // minimum duty-cycle
+const float PositionController::MAX_DUTY_CYCLE = 0.99f;            // maximum duty-cycle
 
 PositionController::PositionController(float counts_per_turn, float kn, float max_voltage, FastPWM& pwm, EncoderCounter& encoderCounter) : pwm(pwm), encoderCounter(encoderCounter), thread(osPriorityHigh, 4096)
 {