Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Config/current_controller_config.h
- Committer:
- benkatz
- Date:
- 2017-05-01
- Revision:
- 26:2b865c00d7e9
- Parent:
- 25:f5741040c4bb
- Child:
- 28:8c7e29f719c5
File content as of revision 26:2b865c00d7e9:
#ifndef CURRENT_CONTROLLER_CONFIG_H #define CURRENT_CONTROLLER_CONFIG_H #define K_D .05f // Volts/Amp #define K_Q .05f // Volts/Amp #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 17.0f // Volts #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 #endif