BaseCode for T-Motor_AK80
Dependencies: mbed-dev-f303 FastPWM3
Config/current_controller_config.h
- Committer:
- Ikhee
- Date:
- 2020-12-09
- Revision:
- 57:d18e3d25ed8a
- Parent:
- 55:c4c9fec8539c
File content as of revision 57:d18e3d25ed8a:
#ifndef CURRENT_CONTROLLER_CONFIG_H #define CURRENT_CONTROLLER_CONFIG_H // Current controller/// //#define K_D .05f // Loop gain, Volts/Amp //#define K_Q .05f // Loop gain, Volts/Amp #define K_SCALE 0.0001f // K_loop/Loop BW (Hz) 0.0042 #define KI_D 0.0455f // PI zero, in radians per sample #define KI_Q 0.0455f // PI zero, in radians per sample #define V_BUS 24.0f // Volts #define OVERMODULATION 1.15f // 1.0 = no overmodulation // //#define D_INT_LIM V_BUS/(K_D*KI_D) // Amps*samples //#define Q_INT_LIM V_BUS/(K_Q*KI_Q) // Amps*samples //Observer// #define DT 0.000025f #define K_O 0.02f #endif