Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Diff: Config/current_controller_config.h
- Revision:
- 25:f5741040c4bb
- Parent:
- 23:2adf23ee0305
- Child:
- 26:2b865c00d7e9
--- a/Config/current_controller_config.h Fri Apr 07 16:23:39 2017 +0000 +++ b/Config/current_controller_config.h Sun Apr 09 03:05:52 2017 +0000 @@ -3,8 +3,9 @@ #define K_D .05f // Volts/Amp #define K_Q .05f // Volts/Amp -#define KI_D 0.04f // 1/samples -#define KI_Q 0.04f // 1/samples +#define K_SCALE 0.0001f // K_loop/Loop BW (Hz) +#define KI_D 0.06f // 1/samples +#define KI_Q 0.06f // 1/samples #define V_BUS 24.0f // Volts #define D_INT_LIM V_BUS/(K_D*KI_D) // Amps*samples