File content as of revision 48:a74e401a6d84:

#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 K_SCALE 0.00165f
// #define K_SCALE 0.0000000825f
// #define K_SCALE 0.0008
//#define K_SCALE 0.0004
#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 V_BUS 48.0f
#define OVERMODULATION 1.2f         // 1.0 = no overmodulation

#define kp_design 0.6f
#define ki_design 0.086f
// #define alpha 0.86425f   // 1/(2piTf+1), fc=1000
#define alpha 0.76104f      // 1 - 2PiDtFc/(2PiDtFc+1), Fc=2k hz

#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

//Observer//
#define DT 0.000025f
#define K_O 0.02f




#endif