Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: config_driving.h
- Revision:
- 42:030e0ec4eac5
- Parent:
- 40:22aede3d096f
--- a/config_driving.h Thu Jan 05 05:54:20 2017 +0000 +++ b/config_driving.h Fri Jan 06 07:54:22 2017 +0000 @@ -3,15 +3,16 @@ #define TORQUE_MODE true -/*driving and braking torque limits, Nm*/ -#define FORWARD_TORQUE_MAX 75.0f -#define REVERSE_TORQUE_MAX -20.0f +/*forward torque scaling*/ +#define MAX_TQPCT_PLUS 1.0f -/*forward and regen power limits, W*/ -#define P_FORWARD_MAX 20000.0f -#define P_REVERSE_MAX 4000.0f +/*reverse/regen torque scaling*/ +#define MAX_TQPCT_MINUS 0.3f + +/*maximum torque for approximate methods*/ +#define TORQUE_MAX 75.0f /*max speed, including any field weakening, rad/s*/ -#define W_MAX 800.0f +#define W_MAX 1000.0f #endif \ No newline at end of file