hobbyking_cheetah source code modified 2020/12/15
Dependencies: mbed-dev-f303 FastPWM3
Diff: Config/current_controller_config.h
- Revision:
- 44:8040fa2fcb0d
- Parent:
- 37:c0f352d6e8e3
- Child:
- 46:2d4b1dafcfe3
diff -r dfb72608639c -r 8040fa2fcb0d Config/current_controller_config.h --- a/Config/current_controller_config.h Fri May 25 16:10:46 2018 +0000 +++ b/Config/current_controller_config.h Mon Jun 11 00:04:06 2018 +0000 @@ -2,12 +2,13 @@ #define CURRENT_CONTROLLER_CONFIG_H // Current controller/// -#define K_D .05f // Volts/Amp -#define K_Q .05f // Volts/Amp -#define K_SCALE 0.0001f // K_loop/Loop BW (Hz) 0.0042 -#define KI_D 0.0255f // 1/samples -#define KI_Q 0.0255f // 1/samples +#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 0.0255f // 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 1.2f // 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