From c6cf7b2132cead5f18f40bf09a2153f30b900ee3 Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Thu, 17 May 2018 17:07:34 -0700 Subject: [PATCH] current control bandwidth lowered for high inductance wheels. TODO Make configurable --- Firmware/MotorControl/motor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Firmware/MotorControl/motor.cpp b/Firmware/MotorControl/motor.cpp index 0c8707eb..b1b6c7f8 100644 --- a/Firmware/MotorControl/motor.cpp +++ b/Firmware/MotorControl/motor.cpp @@ -57,7 +57,7 @@ void Motor::reset_current_control() { // TODO: allow update on user-request or update automatically via hooks void Motor::update_current_controller_gains() { // Calculate current control gains - float current_control_bandwidth = 1000.0f; // [rad/s] + float current_control_bandwidth = 100.0f; // [rad/s] current_control_.p_gain = current_control_bandwidth * config_.phase_inductance; float plant_pole = config_.phase_resistance / config_.phase_inductance; current_control_.i_gain = plant_pole * current_control_.p_gain;