Revision 6:f51261d3fe8f, committed 2021-06-21

Comitter:

shaorui

Date:

Mon Jun 21 01:54:49 2021 +0000

Parent:

5:cc20a93f6ad5

Commit message:

2021.6.21

Changed in this revision

diff -r cc20a93f6ad5 -r f51261d3fe8f main.cpp
--- a/main.cpp	Tue Sep 08 03:42:30 2020 +0000
+++ b/main.cpp	Mon Jun 21 01:54:49 2021 +0000
@@ -38,14 +38,18 @@
 //#define P_MAX 12.5f
  #define P_MIN 0.04f
  #define P_MAX 6.24f
- #define V_MIN -5.0f
- #define V_MAX 5.0f
+ //#define V_MIN -45.0f
+ //#define V_MAX 45.0f
+ #define V_MIN -15.0f
+ #define V_MAX 15.0f
  #define KP_MIN 0.0f
  #define KP_MAX 500.0f
  #define KD_MIN 0.0f
  #define KD_MAX 5.0f
- #define I_MIN -18.0f
- #define I_MAX 18.0f
+ //#define I_MIN -18.0f
+ //#define I_MAX 18.0f
+  #define I_MIN -50.0f
+ #define I_MAX 50.0f
 /// CAN Command Packet Structure ///
 /// 16 bit position command, between -4*pi and 4*pi
 /// 12 bit velocity command, between -30 and + 30 rad/s