Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Config/current_controller_config.h
- Committer:
- adimmit
- Date:
- 2022-08-26
- Revision:
- 71:b314182de37f
- Parent:
- 70:2ea6c555a2cb
File content as of revision 71:b314182de37f:
#ifndef CURRENT_CONTROLLER_CONFIG_H #define CURRENT_CONTROLLER_CONFIG_H // Current controller/// // #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 #define Q_INT_LIM V_BUS/(K_Q*KI_Q) // Amps*samples //Observer// #define DT 0.000025f #define K_O 0.02f #endif