Commit a963b205 authored by Marco Cautero's avatar Marco Cautero 🚴 Committed by Alessio Igor Bogani
Browse files

Update ControlLoop.c line 254-258 decreased limits from 1.25 to 1

parent 6f6a63d1
......@@ -251,11 +251,11 @@ void Compensator(float SP, float Iout) // PWM frequency 100kHz, control loop 50
tempSP = Imin;
//global limiter
if(tempSP > 1.25) // era 25
tempSP = 1.25;
if(tempSP > 1) // era 1.25
tempSP = 1;
else // aggiunto 17/5
if(tempSP < -1.25) // era -25
tempSP = -1.25;
if(tempSP < -1) // era -1.25
tempSP = -1;
// Kp, Ki coefficients have scaling factor embedded for translation from regulator to actuator
......
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