Ben Katz / HKC_MiniCheetah

Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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@51:6cd89bd6fcaa, 2019-07-17 (annotated)

Committer:
benkatz
Date:
Wed Jul 17 03:40:12 2019 +0000
Revision:
51:6cd89bd6fcaa
Parent:
49:83d83040ea51
Child:
52:8e74c22ed89f
Child:
55:c4c9fec8539c
adding field-weakening to the user menu, switch "torque limit" to "current limit"

Who changed what in which revision?

UserRevisionLine numberNew 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 37:c0f352d6e8e3 4 // Current controller///
benkatz 44:8040fa2fcb0d 5 #define K_D .05f // Loop gain, Volts/Amp
benkatz 44:8040fa2fcb0d 6 #define K_Q .05f // Loop gain, Volts/Amp
benkatz 44:8040fa2fcb0d 7 #define K_SCALE 0.0001f // K_loop/Loop BW (Hz) 0.0042
benkatz 44:8040fa2fcb0d 8 #define KI_D 0.0255f // PI zero, in radians per sample
benkatz 44:8040fa2fcb0d 9 #define KI_Q 0.0255f // PI zero, in radians per sample
benkatz 48:74a40481740c 10 #define V_BUS 24.0f // Volts
benkatz 48:74a40481740c 11 #define OVERMODULATION 1.15f // 1.0 = no overmodulation
benkatz 20:bf9ea5125d52 12
benkatz 22:60276ba87ac6 13 #define D_INT_LIM V_BUS/(K_D*KI_D) // Amps*samples
benkatz 22:60276ba87ac6 14 #define Q_INT_LIM V_BUS/(K_Q*KI_Q) // Amps*samples
benkatz 20:bf9ea5125d52 15
benkatz 37:c0f352d6e8e3 16 //Observer//
benkatz 37:c0f352d6e8e3 17 #define DT 0.000025f
benkatz 37:c0f352d6e8e3 18 #define K_O 0.02f
benkatz 37:c0f352d6e8e3 19
benkatz 37:c0f352d6e8e3 20
benkatz 20:bf9ea5125d52 21
benkatz 20:bf9ea5125d52 22
benkatz 20:bf9ea5125d52 23 #endif