nhan pham an / Hobbyking_Cheetah_Compact_DRV8323_StepDir

Fork and fix for mwork

Dependencies:   mbed-dev-f303 FastPWM3 millis

Config/user_config.h@59:568e7be5232f, 2020-06-29 (annotated)

Committer:
annhandt09
Date:
Mon Jun 29 09:36:26 2020 +0000
Revision:
59:568e7be5232f
Parent:
54:3e056b097c52 
add controller.p_des = controller.theta_mech - (controller.t_ff / controller.kp) ;  for first enable.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 23:2adf23ee0305 1 /// Values stored in flash, which are modifieable by user actions ///
benkatz 23:2adf23ee0305 2
benkatz 23:2adf23ee0305 3 #ifndef USER_CONFIG_H
benkatz 23:2adf23ee0305 4 #define USER_CONFIG_H
benkatz 23:2adf23ee0305 5
benkatz 23:2adf23ee0305 6
benkatz 25:f5741040c4bb 7 #define E_OFFSET __float_reg[0] // Encoder electrical offset
benkatz 25:f5741040c4bb 8 #define M_OFFSET __float_reg[1] // Encoder mechanical offset
benkatz 25:f5741040c4bb 9 #define I_BW __float_reg[2] // Current loop bandwidth
benkatz 51:6cd89bd6fcaa 10 #define I_MAX __float_reg[3] // Torque limit (current limit = torque_limit/(kt*gear ratio))
benkatz 26:2b865c00d7e9 11 #define THETA_MIN __float_reg[4] // Minimum position setpoint
benkatz 26:2b865c00d7e9 12 #define THETA_MAX __float_reg[5] // Maximum position setpoint
benkatz 51:6cd89bd6fcaa 13 #define I_FW_MAX __float_reg[6] // Maximum field weakening current
benkatz 23:2adf23ee0305 14
benkatz 28:8c7e29f719c5 15
benkatz 25:f5741040c4bb 16 #define PHASE_ORDER __int_reg[0] // Phase swapping during calibration
benkatz 25:f5741040c4bb 17 #define CAN_ID __int_reg[1] // CAN bus ID
benkatz 26:2b865c00d7e9 18 #define CAN_MASTER __int_reg[2] // CAN bus "master" ID
benkatz 28:8c7e29f719c5 19 #define CAN_TIMEOUT __int_reg[3] // CAN bus timeout period
benkatz 37:c0f352d6e8e3 20 #define ENCODER_LUT __int_reg[5] // Encoder offset LUT - 128 elements long
bdring 54:3e056b097c52 21 //#define IO_MODE __int_reg[6] // The IO_mode (UART or step/dir)
benkatz 28:8c7e29f719c5 22
benkatz 51:6cd89bd6fcaa 23
benkatz 23:2adf23ee0305 24 extern float __float_reg[];
benkatz 23:2adf23ee0305 25 extern int __int_reg[];
benkatz 23:2adf23ee0305 26
benkatz 23:2adf23ee0305 27 #endif