From af155b8d26eaf2218e7eca721c5ea67eaf796618 Mon Sep 17 00:00:00 2001 From: beak90 Date: Wed, 10 Jan 2018 18:43:58 -0800 Subject: [PATCH] Revert "Changed settings for my setup" This reverts commit 153d0667ee81d4852b6f4616c571304611b71e8f. --- Firmware/MotorControl/commands.h | 4 ++-- Firmware/MotorControl/low_level.c | 10 +++++----- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/Firmware/MotorControl/commands.h b/Firmware/MotorControl/commands.h index 07d46423..0d9d7c87 100644 --- a/Firmware/MotorControl/commands.h +++ b/Firmware/MotorControl/commands.h @@ -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 diff --git a/Firmware/MotorControl/low_level.c b/Firmware/MotorControl/low_level.c index c29a45f2..3de25b22 100644 --- a/Firmware/MotorControl/low_level.c +++ b/Firmware/MotorControl/low_level.c @@ -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, - .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)] .vel_integrator_gain = 10.0f / 10000.0f, // [A/(counts/s * s)] // .vel_integrator_gain = 0.0f, // [A/(rad/s * s)] .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,