Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: config_loop.h

Revision:
153:8a1f9888f003
Parent:
152:6877dceec871
--- a/config_loop.h	Thu May 04 15:16:56 2017 +0000
+++ b/config_loop.h	Thu May 04 16:14:29 2017 +0000
@@ -9,18 +9,14 @@
 #define K_LOOP_Q 1.75f
 #define KI_BASE_Q 0.01f
 
-#define F_SLOW_LOOP 50.0f
+#define F_SLOW_LOOP 50.0f //tuned for optimal impulse rejection
 
 #define INTEGRAL_MAX 1.0f
 
-/*filter strengths, 0-1.0
-  higher = stronger filtering*/
-#define W_FILTER_STRENGTH 0.90f
-#define DQ_FILTER_STRENGTH 0.80f
-#define THROTTLE_FILTER_STRENGTH 0.0f
-
-#define THROTTLE_FILTER_WINDOW 7
+/*filter windows*/
+#define DQ_FILTER_WINDOW 1
 #define W_FILTER_WINDOW 3
+#define THROTTLE_FILTER_WINDOW 7 //tuned for optimal impulse rejection
 
 /*internally computed*/
 #define KP_D (K_LOOP_D / BUS_VOLTAGE / MODULATION_MAX)