zebra
/
ZebraJointController
zebra joint controller firmware (originally from MIT HKC motor controller by benkatz)
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user_config.h
00001 /// Values stored in flash, which are modifieable by user actions /// 00002 00003 #ifndef USER_CONFIG_H 00004 #define USER_CONFIG_H 00005 00006 00007 #define E_OFFSET __float_reg[0] // Encoder electrical offset 00008 #define M_OFFSET __float_reg[1] // Encoder mechanical offset 00009 #define I_BW __float_reg[2] // Current loop bandwidth 00010 #define I_MAX __float_reg[3] // Torque limit (current limit = torque_limit/(kt*gear ratio)) 00011 #define THETA_MIN __float_reg[4] // Minimum position setpoint 00012 #define THETA_MAX __float_reg[5] // Maximum position setpoint 00013 #define I_FW_MAX __float_reg[6] // Maximum field weakening current 00014 00015 00016 #define PHASE_ORDER __int_reg[0] // Phase swapping during calibration 00017 #define CAN_ID __int_reg[1] // CAN bus ID 00018 #define CAN_MASTER __int_reg[2] // CAN bus "master" ID 00019 #define CAN_TIMEOUT __int_reg[3] // CAN bus timeout period 00020 #define ENCODER_LUT __int_reg[5] // Encoder offset LUT - 128 elements long 00021 00022 00023 00024 00025 extern float __float_reg[]; 00026 extern int __int_reg[]; 00027 00028 #endif
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