Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: config_loop.h
- Revision:
- 113:bae8e944f756
- Parent:
- 101:4f322f608280
- Child:
- 120:57b6f3b1356b
--- a/config_loop.h Fri Apr 21 01:23:59 2017 +0000 +++ b/config_loop.h Sat Apr 22 05:18:51 2017 +0000 @@ -3,10 +3,10 @@ #include "config_inverter.h" -#define K_LOOP_D 0.75f +#define K_LOOP_D 2.5f//0.75f #define KI_BASE_D 0.025f -#define K_LOOP_Q 1.75f +#define K_LOOP_Q 6.0f//1.75f #define KI_BASE_Q 0.01f #define F_SLOW_LOOP 100.0f @@ -15,7 +15,7 @@ /*filter strengths, 0-1.0 higher = stronger filtering*/ -#define W_FILTER_STRENGTH 0.99f +#define W_FILTER_STRENGTH 0.9f #define DQ_FILTER_STRENGTH 0.80f #define THROTTLE_FILTER_STRENGTH 0.90f