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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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

Committer:
benkatz
Date:
2017-06-04
Revision:
28:8c7e29f719c5
Parent:
26:2b865c00d7e9
Child:
29:0dbc822dd29a

File content as of revision 28:8c7e29f719c5:

#ifndef CURRENT_CONTROLLER_CONFIG_H
#define CURRENT_CONTROLLER_CONFIG_H

#define K_D .05f                     // Volts/Amp
#define K_Q .05f                     // Volts/Amp
#define K_SCALE 0.0001f            // K_loop/Loop BW (Hz)
#define KI_D 0.06f                  // 1/samples
#define KI_Q 0.06f                  // 1/samples
#define V_BUS 22.0f                 // Volts

#define D_INT_LIM V_BUS/(K_D*KI_D)  // Amps*samples
#define Q_INT_LIM V_BUS/(K_Q*KI_Q)  // Amps*samples

#define I_MAX 40.0f



#endif