Updated max and min PWM values

vortexntnu · Jul 17, 2024 · aa12d65 · aa12d65
1 parent 86d3c37
commit aa12d65
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/auv_setup/config/robots/orca.yaml b/auv_setup/config/robots/orca.yaml
@@ -45,8 +45,8 @@
         thruster_to_pin_mapping: [0, 1, 2, 3, 4, 6, 5, 7] # I.e. if thruster_to_pin = [ 7,  6,  5,  4,  3,  2,  1,  0 ] then thruster 0 is pin 1 etc..
         thruster_direction: [1, -1, 1, -1, 1, 1, 1, -1]  # Disclose during thruster mapping (+/- 1)
         thruster_PWM_offset: [-28, -28, -28, -28, -28, -28, -28, -28] # Offset IN PWM -400 to 400 # Offset moves where the thrust is at rest
-        thruster_PWM_min: [1100, 1100, 1100, 1100, 1100, 1100, 1100, 1100] # Minimum PWM value, Recomended: [1100, 1100, 1100, 1100, 1100, 1100, 1100, 1100]
-        thruster_PWM_max: [1900, 1900, 1900, 1900, 1900, 1900, 1900, 1900] # Maximum PWM value, Recomended: [1900, 1900, 1900, 1900, 1900, 1900, 1900, 1900]
+        thruster_PWM_min: [1200, 1200, 1200, 1200, 1200, 1200, 1200, 1200] # Minimum PWM value, Recomended: [1100, 1100, 1100, 1100, 1100, 1100, 1100, 1100]
+        thruster_PWM_max: [1800, 1800, 1800, 1800, 1800, 1800, 1800, 1800] # Maximum PWM value, Recomended: [1900, 1900, 1900, 1900, 1900, 1900, 1900, 1900]
 
     internal_status:
       power_sense_module_read_rate: 5.0 # Readings/second, Recomended: 5.0