From 4283827206f5f00c70d58ee38d6c0e5d3ca23274 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A1ndez?= <shernand@iri.upc.edu>
Date: Sun, 1 May 2016 19:44:15 +0200
Subject: [PATCH] Modified the balance joint gains.

---
 controllers/include/cm510_cfg.h | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/controllers/include/cm510_cfg.h b/controllers/include/cm510_cfg.h
index a83f031..776fe30 100644
--- a/controllers/include/cm510_cfg.h
+++ b/controllers/include/cm510_cfg.h
@@ -33,9 +33,9 @@
 #define BALANCE_MAX_CAL_GYRO_ERROR              20.0
 #define BALANCE_FORWARD_FALL_THD_VALUE          200
 #define BALANCE_BACKWARD_FALL_THD_VALUE         (-200)
-#define BALANCE_KNEE_GAIN                       (2.0/54.0)
-#define BALANCE_ANKLE_PITCH_GAIN                (2.0/18.0)
-#define BALANCE_ANKLE_ROLL_GAIN                 (2.0/20.0)
-#define BALANCE_HIP_ROLL_GAIN                   (2.0/40.0)
+#define BALANCE_KNEE_GAIN                       (4.0/54.0)
+#define BALANCE_ANKLE_PITCH_GAIN                (4.0/18.0)
+#define BALANCE_ANKLE_ROLL_GAIN                 (4.0/20.0)
+#define BALANCE_HIP_ROLL_GAIN                   (4.0/40.0)
 
 #endif
-- 
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