From 4a868daaf09b5dd09ce56d6f63a3d550038e6d44 Mon Sep 17 00:00:00 2001 From: Paul Guenette Date: Wed, 22 Nov 2017 20:50:13 -0500 Subject: [PATCH] Fix GAIN --- Firmware/MotorControl/low_level.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Firmware/MotorControl/low_level.c b/Firmware/MotorControl/low_level.c index 3062fd60..44488489 100644 --- a/Firmware/MotorControl/low_level.c +++ b/Firmware/MotorControl/low_level.c @@ -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;