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Revert "Changed settings for my setup"

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This reverts commit 153d0667ee.
This commit is contained in:
beak90
2018-01-10 18:43:58 -08:00
parent 869467a0d7
commit af155b8d26
2 changed files with 7 additions and 7 deletions
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Firmware/MotorControl/commands.h
+2 -2
View File
@@ -11,8 +11,8 @@
#include "crc.hpp"
// Select which protocol to run on USB (see README for more details)
// #define USB_PROTOCOL_NATIVE
#define USB_PROTOCOL_NATIVE_STREAM_BASED
#define USB_PROTOCOL_NATIVE
// #define USB_PROTOCOL_NATIVE_STREAM_BASED
// #define USB_PROTOCOL_LEGACY
// #define USB_PROTOCOL_NONE
Firmware/MotorControl/low_level.c
+5 -5
View File
@@ -34,7 +34,7 @@
float vbus_voltage = 12.0f;
// TODO stick parameter into struct
#define ENCODER_CPR (500 * 4)
#define ENCODER_CPR (600 * 4)
#define POLE_PAIRS 7
const float elec_rad_per_enc = POLE_PAIRS * 2 * M_PI * (1.0f / (float)ENCODER_CPR);
@@ -56,15 +56,15 @@ Motor_t motors[] = {
.counts_per_step = 2.0f,
.error = ERROR_NO_ERROR,
.pos_setpoint = 0.0f,
.pos_gain = 40.0f, // [(counts/s) / counts]
.pos_gain = 20.0f, // [(counts/s) / counts]
.vel_setpoint = 0.0f,
// .vel_setpoint = 800.0f, <sensorless example>
.vel_gain = 25.0f / 10000.0f, // [A/(counts/s)]
.vel_gain = 15.0f / 10000.0f, // [A/(counts/s)]
// .vel_gain = 15.0f / 200.0f, // [A/(rad/s)] <sensorless example>
.vel_integrator_gain = 10.0f / 10000.0f, // [A/(counts/s * s)]
// .vel_integrator_gain = 0.0f, // [A/(rad/s * s)] <sensorless example>
.vel_integrator_current = 0.0f, // [A]
.vel_limit = 200000.0f, // [counts/s]
.vel_limit = 20000.0f, // [counts/s]
.current_setpoint = 0.0f, // [A]
.calibration_current = 10.0f, // [A]
.phase_inductance = 0.0f, // to be set by measure_phase_inductance
@@ -97,7 +97,7 @@ Motor_t motors[] = {
// Read out max_allowed_current to see max supported value for current_lim.
// You can change DRV8301_ShuntAmpGain to get a different range.
// .current_lim = 75.0f, //[A]
.current_lim = 20.0f, //[A]
.current_lim = 10.0f, //[A]
.p_gain = 0.0f, // [V/A] should be auto set after resistance and inductance measurement
.i_gain = 0.0f, // [V/As] should be auto set after resistance and inductance measurement
.v_current_control_integral_d = 0.0f,