Diff: main.cpp

Revision:

10:b8582775d466

Parent:

9:56747e76c9c1

Child:

11:2404f2218040

--- a/main.cpp	Fri Oct 04 14:21:16 2019 +0000
+++ b/main.cpp	Tue Sep 15 09:02:03 2020 +0000
@@ -18,24 +18,26 @@
 
 
 /// Value Limits ///
- #define P_MIN -12.5f
- #define P_MAX 12.5f
- #define V_MIN -65.0f
- #define V_MAX 65.0f
+#define P_MIN 0.04f
+ #define P_MAX 6.24f
+ #define V_MIN -5.0f
+ #define V_MAX 5.0f
  #define KP_MIN 0.0f
  #define KP_MAX 500.0f
  #define KD_MIN 0.0f
  #define KD_MAX 5.0f
  #define T_MIN -18.0f
  #define T_MAX 18.0f
+//#define T_MIN -50.0f
+ //#define T_MAX 50.0f
  
  /// Joint Soft Stops ///
- #define A_LIM_P 1.5f
- #define A_LIM_N -1.5f
- #define H_LIM_P 5.0f
- #define H_LIM_N -5.0f
- #define K_LIM_P 0.2f
- #define K_LIM_N 7.7f
+ #define A_LIM_P 7.0f
+ #define A_LIM_N -1.0f
+ #define H_LIM_P 7.0f
+ #define H_LIM_N -1.0f
+ #define K_LIM_P 7.0f
+ #define K_LIM_N -1.0f
  #define KP_SOFTSTOP 100.0f
  #define KD_SOFTSTOP 0.4f;