Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: config_loop.h
- Revision:
- 15:b583cd30b063
- Child:
- 22:72840d3db788
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/config_loop.h Sun Oct 30 22:16:30 2016 +0000 @@ -0,0 +1,14 @@ +#ifndef __CONFIG_LOOP_H +#define __CONFIG_LOOP_H + +#define K_LOOP 1.0f +#define KI_BASE 0.01f + +#define KP (K_LOOP / BUS_VOLTAGE) +#define KI (KI_BASE * K_LOOP / BUS_VOLTAGE) + +#define INTEGRAL_MAX 1.0f + +#define W_FILTER_STRENGTH 0.9f + +#endif \ No newline at end of file