From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Thu, 12 Jan 2017 00:13:52 +0000 (-0800)
Subject: Changed gain and decay settings
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=3c5696021e5086f2eeaa70a262cbd246a0586106;p=bbctrl-firmware

Changed gain and decay settings
---

diff --git a/src/drv8711.c b/src/drv8711.c
index 0ed4bfa..f55d811 100644
--- a/src/drv8711.c
+++ b/src/drv8711.c
@@ -229,7 +229,7 @@ static void _init_spi_commands() {
 
     // Set DECAY
     commands[spi.ncmds++] =
-      DRV8711_WRITE(DRV8711_DECAY_REG, DRV8711_DECAY_DECMOD_MIXED | 6);
+      DRV8711_WRITE(DRV8711_DECAY_REG, DRV8711_DECAY_DECMOD_AUTO_OPT | 6);
 
     // Set STALL
     commands[spi.ncmds++] =
@@ -250,7 +250,7 @@ static void _init_spi_commands() {
     // Set CTRL enable motor & set ISENSE gain
     commands[spi.ncmds++] =
       DRV8711_WRITE(DRV8711_CTRL_REG, DRV8711_CTRL_ENBL_bm |
-                    DRV8711_CTRL_ISGAIN_5 | DRV8711_CTRL_DTIME_850);
+                    DRV8711_CTRL_ISGAIN_10 | DRV8711_CTRL_DTIME_850);
 
     // Read STATUS
     commands[spi.ncmds++] = DRV8711_READ(DRV8711_STATUS_REG);