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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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@22:60276ba87ac6, 2017-03-31 (annotated)
- Committer:
- benkatz
- Date:
- Fri Mar 31 18:24:46 2017 +0000
- Revision:
- 22:60276ba87ac6
- Parent:
- 20:bf9ea5125d52
- Child:
- 23:2adf23ee0305
Encoder autocalibration for dc offset and harmonics
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 | 22:60276ba87ac6 | 4 | #define K_D .02f // Volts/Amp |
| benkatz | 22:60276ba87ac6 | 5 | #define K_Q .02f // Volts/Amp |
| benkatz | 22:60276ba87ac6 | 6 | #define KI_D 0.04f // 1/samples |
| benkatz | 22:60276ba87ac6 | 7 | #define KI_Q 0.04f // 1/samples |
| benkatz | 22:60276ba87ac6 | 8 | #define V_BUS 14.0f // Volts |
| benkatz | 20:bf9ea5125d52 | 9 | |
| benkatz | 22:60276ba87ac6 | 10 | #define D_INT_LIM V_BUS/(K_D*KI_D) // Amps*samples |
| benkatz | 22:60276ba87ac6 | 11 | #define Q_INT_LIM V_BUS/(K_Q*KI_Q) // Amps*samples |
| benkatz | 20:bf9ea5125d52 | 12 | |
| benkatz | 20:bf9ea5125d52 | 13 | |
| benkatz | 20:bf9ea5125d52 | 14 | |
| benkatz | 20:bf9ea5125d52 | 15 | #endif |