Sim Youngwoo / Mbed 2 deprecated torque_calibration_ywsim

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Dependencies:   mbed HX711 MotorModuleExample_copy

Diff: MotorModule/MotorModule.h

Revision:
3:f0d054d896f9
Parent:
2:36a254d3dbf3
Child:
5:a2e3d0213315
--- a/MotorModule/MotorModule.h	Thu Aug 08 17:03:30 2019 +0000
+++ b/MotorModule/MotorModule.h	Thu Aug 08 17:39:17 2019 +0000
@@ -5,13 +5,13 @@
 #include "../math_ops.h"
 
 /// Value Limits ///
-#define P_MIN -12.5f
- #define P_MAX 12.5f
- #define V_MIN -45.0f
+#define P_MIN -95.5f        // Radians
+ #define P_MAX 95.5f        
+ #define V_MIN -45.0f       // Rad/s
  #define V_MAX 45.0f
- #define KP_MIN 0.0f
+ #define KP_MIN 0.0f        // N-m/rad
  #define KP_MAX 500.0f
- #define KD_MIN 0.0f
+ #define KD_MIN 0.0f        // N-m/rad/s
  #define KD_MAX 5.0f
  #define I_MIN -18.0f
  #define I_MAX 18.0f