Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Diff: Config/current_controller_config.h
- Revision:
- 70:2ea6c555a2cb
- Parent:
- 69:ba1c89835a54
- Child:
- 71:b314182de37f
--- a/Config/current_controller_config.h Wed Feb 10 21:29:13 2021 +0000 +++ b/Config/current_controller_config.h Thu Apr 01 18:23:53 2021 +0000 @@ -2,12 +2,12 @@ #define CURRENT_CONTROLLER_CONFIG_H // Current controller/// -#define K_D .02f // Loop gain, Volts/Amp -#define K_Q .02f // Loop gain, Volts/Amp -#define K_SCALE 0.0001f // K_loop/Loop BW (Hz) 0.0042 -#define KI_D 0.0195f // PI zero, in radians per sample -#define KI_Q 0.0195f // PI zero, in radians per sample -#define V_BUS 60.0f // Volts +#define K_D 0.13319f // Loop gain, Volts/Amp +#define K_Q 0.13319f // Loop gain, Volts/Amp +#define K_SCALE 0.00013310f // K_loop/Loop BW (Hz) 0.0042 +#define KI_D 0.0373f // PI zero, in radians per sample +#define KI_Q 0.0373f // PI zero, in radians per sample +#define V_BUS 48.0f // Volts #define OVERMODULATION 1.15f // 1.0 = no overmodulation #define D_INT_LIM V_BUS/(K_D*KI_D) // Amps*samples