Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: config_loop.h

Revision:
152:6877dceec871
Parent:
150:08c13bfc7417
Child:
153:8a1f9888f003
Child:
154:0a22dcf91577
--- a/config_loop.h	Thu May 04 14:34:34 2017 +0000
+++ b/config_loop.h	Thu May 04 15:16:56 2017 +0000
@@ -9,7 +9,7 @@
 #define K_LOOP_Q 1.75f
 #define KI_BASE_Q 0.01f
 
-#define F_SLOW_LOOP 100.0f
+#define F_SLOW_LOOP 50.0f
 
 #define INTEGRAL_MAX 1.0f
 
@@ -19,6 +19,8 @@
 #define DQ_FILTER_STRENGTH 0.80f
 #define THROTTLE_FILTER_STRENGTH 0.0f
 
+#define THROTTLE_FILTER_WINDOW 7
+#define W_FILTER_WINDOW 3
 
 /*internally computed*/
 #define KP_D (K_LOOP_D / BUS_VOLTAGE / MODULATION_MAX)