Shortest BASE_PERIOD is 12000 as it is now. Plus some cleanup

2024-03-23 20:09:35 +01:00
parent 8710a547fe
commit 1b8721930e
3 changed files with 5 additions and 21 deletions
--- a/Firmware/include/StepGen3.h
+++ b/Firmware/include/StepGen3.h
@@ -143,11 +143,11 @@ private:
 };

 // For the example
-#define BASE_PERIOD 50000
+#define BASE_PERIOD 15000 // 12 i smax
 #define SERVO_PERIOD 1000000
 #define JOINT_X_STEPGEN_MAXACCEL 520.0
-#define JOINT_X_SCALE 200
+#define JOINT_X_SCALE -200
 #define JOINT_Z_STEPGEN_MAXACCEL 520.0
-#define JOINT_Z_SCALE 80
+#define JOINT_Z_SCALE -80

 #endif