Austin Brown
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current_controller_config.h
00001 #ifndef CURRENT_CONTROLLER_CONFIG_H 00002 #define CURRENT_CONTROLLER_CONFIG_H 00003 00004 #define K_D .05f // Volts/Amp 00005 #define K_Q .05f // Volts/Amp 00006 #define KI_D 0.04f // 1/samples 00007 #define KI_Q 0.04f // 1/samples 00008 #define V_BUS 24.0f // Volts 00009 00010 #define D_INT_LIM V_BUS/(K_D*KI_D) // Amps*samples 00011 #define Q_INT_LIM V_BUS/(K_Q*KI_Q) // Amps*samples 00012 00013 #define DTC_MAX 0.95f // Max phase duty cycle 00014 #define DTC_MIN 0.05f // Min phase duty cycle 00015 00016 #define I_SCALE 0.02014160156f // Amps per A/D Count 00017 // 1/(.002*1*20*4096/3.3) 00018 00019 00020 00021 #endif
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