Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: config_loop.h

Revision:
74:f10cb573d7ca
Parent:
73:d44bc3a46942
Child:
75:591556ce033d
--- a/config_loop.h	Mon Feb 20 12:37:21 2017 +0000
+++ b/config_loop.h	Fri Feb 24 13:03:34 2017 +0000
@@ -9,15 +9,7 @@
 #define K_LOOP_Q 6.0f
 #define KI_BASE_Q 0.01f
 
-/*
-#define K_LOOP_D 1.0f
-#define KI_BASE_D 0.01f
-
-#define K_LOOP_Q 1.0f
-#define KI_BASE_Q 0.01f
-*/
-
-#define F_SLOW_LOOP 100.0f
+#define F_SLOW_LOOP 1000.0f
 
 #define INTEGRAL_MAX 1.0f
 
@@ -25,7 +17,11 @@
   higher = stronger filtering*/
 #define W_FILTER_STRENGTH 0.99f
 #define DQ_FILTER_STRENGTH 0.95f
-#define THROTTLE_FILTER_STRENGTH 0.0f
+#define THROTTLE_FILTER_STRENGTH_LOW 0.99f
+#define THROTTLE_FILTER_STRENGTH_HI 0.0f
+
+/*reduce filtering past this point for performance reasons*/
+#define THROTTLE_FILTER_THRESHOLD 0.25f
 
 /*internally computed*/
 #define KP_D (K_LOOP_D / BUS_VOLTAGE)