position parameters

Author: gbr1

src/definitions/robot_definitions.h

@@ -25,11 +25,14 @@ const float MOTOR_RATIO = MOTOR_CPR*MOTOR_GEAR_RATIO;
 #define MOTOR_KP_DEFAULT 32.0
 #define MOTOR_KI_DEFAULT 450.0
 #define MOTOR_KD_DEFAULT 0.0
-
-//30, 450, 0.0
-//120,300,1,0
 #define MOTOR_CONTROL_PERIOD 0.02
 
+#define POSITION_KP_DEFAULT 1.0
+#define POSITION_KI_DEFAULT 0.0
+#define POSITION_KD_DEFAULT 0.1
+#define POSITION_CONTROL_PERIOD 0.02
+#define POSITION_MAX_SPEED 30.0
+
 
 // Sensor fusioning parameters
 #define FROM_MG_TO_G  0.001f