BaseCode for T-Motor_AK80
Dependencies: mbed-dev-f303 FastPWM3
Diff: Config/current_controller_config.h
- Revision:
- 47:e1196a851f76
- Parent:
- 46:2d4b1dafcfe3
- Child:
- 48:74a40481740c
diff -r 2d4b1dafcfe3 -r e1196a851f76 Config/current_controller_config.h --- a/Config/current_controller_config.h Thu Jul 12 02:50:34 2018 +0000 +++ b/Config/current_controller_config.h Wed Dec 05 04:07:46 2018 +0000 @@ -7,13 +7,14 @@ #define K_SCALE 0.0001f // K_loop/Loop BW (Hz) 0.0042 #define KI_D 0.0255f // PI zero, in radians per sample #define KI_Q 0.0255f // PI zero, in radians per sample -#define V_BUS 24.0f // Volts -#define OVERMODULATION 1.4f // 1.0 = no overmodulation +#define V_BUS 35.0f // 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 #define I_MAX 40.0f +#define I_MAX_FW 0.0f //Observer// #define DT 0.000025f