Shao Rui / HKC_MiniCheetah

1

Dependencies:   mbed-dev-f303 FastPWM3

Diff: CAN/CAN_com.cpp

Revision:
57:059bd1333ba4
Parent:
55:c4c9fec8539c
--- a/CAN/CAN_com.cpp	Thu Oct 10 15:03:12 2019 +0000
+++ b/CAN/CAN_com.cpp	Fri Oct 16 09:08:47 2020 +0000
@@ -3,8 +3,12 @@
 
  #define P_MIN -12.5f
  #define P_MAX 12.5f
- #define V_MIN -65.0f
- #define V_MAX 65.0f
+ /*shaorui modify matching to relative gear ration***/
+ //#define V_MIN -65.0f   //GR=6
+ //#define V_MAX 65.0f    //GR=6
+ #define V_MIN -45.0f   
+ #define V_MAX 45.0f    
+/*shaorui modify matching to relative gear ration***/
  #define KP_MIN 0.0f
  #define KP_MAX 500.0f
  #define KD_MIN 0.0f