Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Diff: Config/current_controller_config.h
- Revision:
- 22:60276ba87ac6
- Parent:
- 20:bf9ea5125d52
- Child:
- 23:2adf23ee0305
diff -r 7d1f0a206668 -r 60276ba87ac6 Config/current_controller_config.h --- a/Config/current_controller_config.h Thu Mar 02 15:31:45 2017 +0000 +++ b/Config/current_controller_config.h Fri Mar 31 18:24:46 2017 +0000 @@ -1,14 +1,14 @@ #ifndef CURRENT_CONTROLLER_CONFIG_H #define CURRENT_CONTROLLER_CONFIG_H -#define K_D .5f //V/A -#define K_Q .5f //V/A -#define KI_D 0.04f //1/samples -#define KI_Q 0.04f //1/samples -#define V_BUS 14.0f +#define K_D .02f // Volts/Amp +#define K_Q .02f // Volts/Amp +#define KI_D 0.04f // 1/samples +#define KI_Q 0.04f // 1/samples +#define V_BUS 14.0f // Volts -#define D_INT_LIM V_BUS/(K_D*KI_D) //A*samples -#define Q_INT_LIM V_BUS/(K_Q*KI_Q) //A*samples +#define D_INT_LIM V_BUS/(K_D*KI_D) // Amps*samples +#define Q_INT_LIM V_BUS/(K_Q*KI_Q) // Amps*samples