Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: config_driving.h
- Revision:
- 39:80b38a8e1787
- Parent:
- 38:07cb4ae6c1bd
- Child:
- 40:22aede3d096f
--- a/config_driving.h Tue Nov 29 00:31:18 2016 +0000 +++ b/config_driving.h Sat Dec 03 17:49:02 2016 +0000 @@ -3,12 +3,15 @@ #define TORQUE_MODE true -#define FORWARD_TORQUE_MAX 100.0f //N/m +/*driving and braking torque limits, Nm*/ +#define FORWARD_TORQUE_MAX 75.0f #define REVERSE_TORQUE_MAX -20.0f -#define P_FORWARD_MAX 20000.0f //W +/*forward and regen power limits, W*/ +#define P_FORWARD_MAX 20000.0f #define P_REVERSE_MAX 4000.0f -#define W_MAX 500.0f //rad/s +/*max speed, including any field weakening, rad/s*/ +#define W_MAX 700.0f #endif \ No newline at end of file