Diff: Config/current_controller_config.h

Revision:

44:8040fa2fcb0d

Parent:

37:c0f352d6e8e3

Child:

46:2d4b1dafcfe3

--- a/Config/current_controller_config.h	Fri May 25 16:10:46 2018 +0000
+++ b/Config/current_controller_config.h	Mon Jun 11 00:04:06 2018 +0000
@@ -2,12 +2,13 @@
 #define CURRENT_CONTROLLER_CONFIG_H
 
 // Current controller///
-#define K_D .05f                     // Volts/Amp
-#define K_Q .05f                     // Volts/Amp
-#define K_SCALE 0.0001f            // K_loop/Loop BW (Hz) 0.0042
-#define KI_D 0.0255f                  // 1/samples
-#define KI_Q 0.0255f                  // 1/samples
+#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 1.2f         // 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