From 98c82dcc38d62bb0a1eef3f265fa2a427a809db9 Mon Sep 17 00:00:00 2001 From: Rene Hopf Date: Tue, 25 Nov 2014 04:09:00 +0100 Subject: [PATCH] default lp filter --- src/main.c | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/main.c b/src/main.c index 1a392754..8416c492 100644 --- a/src/main.c +++ b/src/main.c @@ -101,7 +101,7 @@ void link_pid(){ set_hal_pin("pid0.enable", 1.0); } -void link_ac_sync_res(){ +void link_ac_sync_res(){//bosch // cmd link_hal_pins("enc0.pos", "net0.cmd"); set_hal_pin("pderiv0.in_lp", 1); @@ -113,7 +113,7 @@ void link_ac_sync_res(){ link_hal_pins("res0.pos", "net0.fb"); set_hal_pin("res0.enable", 1.0); set_hal_pin("pderiv1.in_lp", 1); - set_hal_pin("pderiv1.out_lp", 1); + set_hal_pin("pderiv1.out_lp", 0.2); set_hal_pin("pderiv1.vel_max", 1000.0 / 60.0 * 2.0 * M_PI); set_hal_pin("pderiv1.acc_max", 1000.0 / 60.0 * 2.0 * M_PI / 0.005); @@ -126,12 +126,13 @@ void link_ac_sync_res(){ // pid set_hal_pin("pid0.pos_p", 100.0); set_hal_pin("pid0.pos_lp", 1.0); - set_hal_pin("pid0.vel_lp", 0.6); + set_hal_pin("pid0.vel_lp", 0.4); + set_hal_pin("pid0.cur_lp", 0.5); set_hal_pin("pid0.vel_max", 1000.0 / 60.0 * 2.0 * M_PI); set_hal_pin("pid0.acc_max", 1000.0 / 60.0 * 2.0 * M_PI / 0.005); } -void link_ac_sync_enc(){ +void link_ac_sync_enc(){//berger lahr // cmd link_hal_pins("res0.pos", "net0.cmd"); set_hal_pin("res0.enable", 1.0);