Ben Katz
Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol
Dependencies: mbed-dev-f303 FastPWM3
Superseded by: https://github.com/bgkatz/motorcontrol
Config/current_controller_config.h@34:51647c6c500d, 2017-11-08 (annotated)
- Committer:
- benkatz
- Date:
- Wed Nov 08 15:18:18 2017 +0000
- Revision:
- 34:51647c6c500d
- Parent:
- 29:0dbc822dd29a
- Child:
- 35:69b24894c11d
testing new things
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| benkatz | 20:bf9ea5125d52 | 1 | #ifndef CURRENT_CONTROLLER_CONFIG_H |
| benkatz | 20:bf9ea5125d52 | 2 | #define CURRENT_CONTROLLER_CONFIG_H |
| benkatz | 20:bf9ea5125d52 | 3 | |
| benkatz | 23:2adf23ee0305 | 4 | #define K_D .05f // Volts/Amp |
| benkatz | 23:2adf23ee0305 | 5 | #define K_Q .05f // Volts/Amp |
| benkatz | 34:51647c6c500d | 6 | #define K_SCALE 0.00043f // K_loop/Loop BW (Hz) |
| benkatz | 34:51647c6c500d | 7 | #define KI_D 0.0255f // 1/samples |
| benkatz | 34:51647c6c500d | 8 | #define KI_Q 0.0255f // 1/samples |
| benkatz | 29:0dbc822dd29a | 9 | #define V_BUS 24.0f // Volts |
| benkatz | 20:bf9ea5125d52 | 10 | |
| benkatz | 22:60276ba87ac6 | 11 | #define D_INT_LIM V_BUS/(K_D*KI_D) // Amps*samples |
| benkatz | 22:60276ba87ac6 | 12 | #define Q_INT_LIM V_BUS/(K_Q*KI_Q) // Amps*samples |
| benkatz | 20:bf9ea5125d52 | 13 | |
| benkatz | 26:2b865c00d7e9 | 14 | #define I_MAX 40.0f |
| benkatz | 26:2b865c00d7e9 | 15 | |
| benkatz | 20:bf9ea5125d52 | 16 | |
| benkatz | 20:bf9ea5125d52 | 17 | |
| benkatz | 20:bf9ea5125d52 | 18 | #endif |