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Fix GAIN

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This commit is contained in:
Paul Guenette
2017-11-22 20:50:13 -05:00
parent d9b13efac2
commit 4a868daaf0
1 changed files with 1 additions and 1 deletions
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Firmware/MotorControl/low_level.c
+1 -1
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@@ -421,7 +421,7 @@ static void DRV8301_setup(Motor_t* motor) {
float margin = 0.95f;
float max_input = margin * 0.3f * motor->shunt_conductance;
float max_swing = margin * 1.6f * motor->shunt_conductance / motor->phase_current_rev_gain;
float max_swing = margin * 1.6f * motor->shunt_conductance * motor->phase_current_rev_gain;
motor->max_allowed_current = MACRO_MIN(max_input, max_swing);
local_regs->SndCmd = true;