update limits

tinymovr · Feb 9, 2024 · c367831 · c367831
1 parent 1fd00b4
commit c367831
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/firmware/src/controller/controller.c b/firmware/src/controller/controller.c
@@ -91,7 +91,7 @@ static ControllerConfig config = {
     .vel_gain = 5.0e-5f,
     .vel_integrator_gain = 0.00020f,
     .vel_integrator_deadband = 200.0f,
-    .I_bw = 2000.0,
+    .I_bw = 500.0,
     .I_gain = 0.0f,
     .Iq_integrator_gain = 0.0f,
     .Id_integrator_gain = 0.0f,

diff --git a/firmware/src/motor/motor.h b/firmware/src/motor/motor.h
@@ -21,9 +21,9 @@
 
 #if defined BOARD_REV_R32 || BOARD_REV_R33 || defined BOARD_REV_R5
 #define MIN_PHASE_RESISTANCE (0.01f)
-#define MAX_PHASE_RESISTANCE (1.0f)
+#define MAX_PHASE_RESISTANCE (3.0f)
 #define MIN_PHASE_INDUCTANCE (5e-6f)
-#define MAX_PHASE_INDUCTANCE (1e-3f)
+#define MAX_PHASE_INDUCTANCE (3e-3f)
 #elif defined BOARD_REV_M5
 #define MIN_PHASE_RESISTANCE (0.5f)
 #define MAX_PHASE_RESISTANCE (20.0f)

diff --git a/firmware/src/observer/observer.c b/firmware/src/observer/observer.c
@@ -24,7 +24,7 @@
 static ObserverState state = {0};
 
 static ObserverConfig config = {
-		.track_bw = 350.0f,
+		.track_bw = 120.0f,
 		.kp = 0.0f,
 		.ki = 0.0f,
 };