Barton Dring
/
Hobbyking_Cheetah_Compact_DRV8323
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: mbed-dev-f303 FastPWM3
Config/current_controller_config.h
- Committer:
- benkatz
- Date:
- 2019-03-03
- Revision:
- 48:74a40481740c
- Parent:
- 47:e1196a851f76
- Child:
- 49:83d83040ea51
File content as of revision 48:74a40481740c:
#ifndef CURRENT_CONTROLLER_CONFIG_H
#define CURRENT_CONTROLLER_CONFIG_H
// Current controller///
#define K_D .05f // Loop gain, Volts/Amp
#define K_Q .05f // Loop gain, Volts/Amp
#define K_SCALE 0.0001f // K_loop/Loop BW (Hz) 0.0042
#define KI_D 0.0255f // PI zero, in radians per sample
#define KI_Q 0.0255f // PI zero, in radians per sample
#define V_BUS 24.0f // 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
#define I_MAX 40.0f // Max Current
#define I_MAX_FW 0.0f // Max field weakening current
#define I_MAX_CONT 15.0f // Max continuous current, for thermal limiting
//Observer//
#define DT 0.000025f
#define K_O 0.02f
#endif