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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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/hw_config.h@56:fe5056ac6740, 2019-10-10 (annotated)
- Committer:
- benkatz
- Date:
- Thu Oct 10 15:03:12 2019 +0000
- Revision:
- 56:fe5056ac6740
- Parent:
- 55:c4c9fec8539c
fixed position-sensor turn-on weirdness; ; improved output zeroing to work independent of encoder rollover angle
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| benkatz | 20:bf9ea5125d52 | 1 | #ifndef HW_CONFIG_H |
| benkatz | 20:bf9ea5125d52 | 2 | #define HW_CONFIG_H |
| benkatz | 20:bf9ea5125d52 | 3 | |
| benkatz | 20:bf9ea5125d52 | 4 | #define PIN_U PA_10 |
| benkatz | 20:bf9ea5125d52 | 5 | #define PIN_V PA_9 |
| benkatz | 20:bf9ea5125d52 | 6 | #define PIN_W PA_8 |
| benkatz | 22:60276ba87ac6 | 7 | #define ENABLE_PIN PA_11 // Enable gate drive pin |
| benkatz | 37:c0f352d6e8e3 | 8 | #define LED PC_5 // LED Pin |
| benkatz | 22:60276ba87ac6 | 9 | #define I_SCALE 0.02014160156f // Amps per A/D Count |
| benkatz | 48:74a40481740c | 10 | #define V_SCALE 0.012890625f // Bus volts per A/D Count |
| benkatz | 47:e1196a851f76 | 11 | #define DTC_MAX 0.94f // Max phase duty cycle |
| benkatz | 47:e1196a851f76 | 12 | #define DTC_MIN 0.0f // Min phase duty cycle |
| benkatz | 27:501fee691e0e | 13 | #define PWM_ARR 0x8CA /// timer autoreload value |
| benkatz | 55:c4c9fec8539c | 14 | #define DTC_COMP .000f /// deadtime compensation (100 ns / 25 us) |
| benkatz | 20:bf9ea5125d52 | 15 | |
| benkatz | 20:bf9ea5125d52 | 16 | |
| benkatz | 37:c0f352d6e8e3 | 17 | |
| benkatz | 20:bf9ea5125d52 | 18 | #endif |