Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Defaults/defaults.h@185:5c102874b490, 2018-02-09 (annotated)

Committer:
bwang
Date:
Fri Feb 09 22:19:52 2018 +0000
Revision:
185:5c102874b490
moved all the hard-coded values to defaults.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 185:5c102874b490 1 #ifndef __DEFAULTS_H
bwang 185:5c102874b490 2 #define __DEFAULTS_H
bwang 185:5c102874b490 3
bwang 185:5c102874b490 4 /*---driving (mostly unimplemented)---*/
bwang 185:5c102874b490 5
bwang 185:5c102874b490 6 /*legacy code, indicating there should be no throttle map*/
bwang 185:5c102874b490 7 #define TORQUE_MODE true
bwang 185:5c102874b490 8
bwang 185:5c102874b490 9 /*forward torque scaling*/
bwang 185:5c102874b490 10 #define MAX_TQPCT_PLUS 1.0f
bwang 185:5c102874b490 11
bwang 185:5c102874b490 12 /*reverse/regen torque scaling*/
bwang 185:5c102874b490 13 #define MAX_TQPCT_MINUS 0.3f
bwang 185:5c102874b490 14
bwang 185:5c102874b490 15 /*maximum torque for approximate methods*/
bwang 185:5c102874b490 16 #define TORQUE_MAX 75.0f
bwang 185:5c102874b490 17
bwang 185:5c102874b490 18 /*max speed, including any field weakening, rad/s*/
bwang 185:5c102874b490 19 #define W_MAX 1000.0f
bwang 185:5c102874b490 20
bwang 185:5c102874b490 21 /*---inverter---*/
bwang 185:5c102874b490 22
bwang 185:5c102874b490 23 /*DC link voltage, volts*/
bwang 185:5c102874b490 24 #define BUS_VOLTAGE 160.0f
bwang 185:5c102874b490 25
bwang 185:5c102874b490 26 /*switching frequency, hertz*/
bwang 185:5c102874b490 27 #define F_SW 5000.0f
bwang 185:5c102874b490 28
bwang 185:5c102874b490 29 /*max duty cycle*/
bwang 185:5c102874b490 30 #define LINEAR_DTC_MAX 0.945f
bwang 185:5c102874b490 31
bwang 185:5c102874b490 32 /*propagation delay swizzle factor (+w_m / V_PHASE_SWIZZLE)*/
bwang 185:5c102874b490 33 #define V_PHASE_SWIZZLE 1048.0f
bwang 185:5c102874b490 34
bwang 185:5c102874b490 35 /*---logging---*/
bwang 185:5c102874b490 36
bwang 185:5c102874b490 37 #define ENABLE_LOGGING true
bwang 185:5c102874b490 38
bwang 185:5c102874b490 39 #define LOG_PAGE_SIZE 4096
bwang 185:5c102874b490 40 #define LOG_HEADER_SIZE 10
bwang 185:5c102874b490 41 #define LOG_PACKET_SIZE 8
bwang 185:5c102874b490 42 #define LOG_BAUD_RATE 921600
bwang 185:5c102874b490 43
bwang 185:5c102874b490 44 /*---loop---*/
bwang 185:5c102874b490 45 #define K_LOOP_D 0.75f
bwang 185:5c102874b490 46 #define KI_BASE_D 0.025f
bwang 185:5c102874b490 47
bwang 185:5c102874b490 48 #define K_LOOP_Q 1.75f
bwang 185:5c102874b490 49 #define KI_BASE_Q 0.01f
bwang 185:5c102874b490 50
bwang 185:5c102874b490 51 #define F_SLOW_LOOP 50.0f
bwang 185:5c102874b490 52
bwang 185:5c102874b490 53 #define INTEGRAL_MAX 1.5f
bwang 185:5c102874b490 54 #define OVERMODULATION_FACTOR 0.5f
bwang 185:5c102874b490 55
bwang 185:5c102874b490 56 /*filter strengths, 0-1.0
bwang 185:5c102874b490 57 higher = stronger filtering*/
bwang 185:5c102874b490 58 #define DQ_FILTER_STRENGTH 0.80f
bwang 185:5c102874b490 59
bwang 185:5c102874b490 60 /*windows for median filtering*/
bwang 185:5c102874b490 61 #define THROTTLE_FILTER_WINDOW 7
bwang 185:5c102874b490 62 #define W_FILTER_WINDOW 3
bwang 185:5c102874b490 63
bwang 185:5c102874b490 64 /*---motor---*/
bwang 185:5c102874b490 65
bwang 185:5c102874b490 66 /*# of pole pairs*/
bwang 185:5c102874b490 67 #define POLE_PAIRS 3.0f
bwang 185:5c102874b490 68
bwang 185:5c102874b490 69 /*electrical position offset,
bwang 185:5c102874b490 70 measured as +a, -b, -c (radians)*/
bwang 185:5c102874b490 71 #define POS_OFFSET 5.7614f
bwang 185:5c102874b490 72
bwang 185:5c102874b490 73 /*# of resolver lobes*/
bwang 185:5c102874b490 74 #define RESOLVER_LOBES 3.0f
bwang 185:5c102874b490 75
bwang 185:5c102874b490 76 /*CPR of encoder or encoder emulator*/
bwang 185:5c102874b490 77 #define CPR 4096
bwang 185:5c102874b490 78
bwang 185:5c102874b490 79 /*d and q axis inductances, henries*/
bwang 185:5c102874b490 80 #define Ld 0.000605f
bwang 185:5c102874b490 81 #define Lq 0.001536f
bwang 185:5c102874b490 82
bwang 185:5c102874b490 83 /*PM flux linkage, volt-seconds*/
bwang 185:5c102874b490 84 #define FLUX_LINKAGE 0.0529f
bwang 185:5c102874b490 85
bwang 185:5c102874b490 86 /*single phase resistance, ohms*/
bwang 185:5c102874b490 87 #define Rs 0.05f
bwang 185:5c102874b490 88
bwang 185:5c102874b490 89 /*torque/phase amp for approximate models*/
bwang 185:5c102874b490 90 #define KT 0.3f
bwang 185:5c102874b490 91
bwang 185:5c102874b490 92 /*a safe speed below which you
bwang 185:5c102874b490 93 never need to field weaken*/
bwang 185:5c102874b490 94 #define W_SAFE 100.0f
bwang 185:5c102874b490 95
bwang 185:5c102874b490 96 /*maximum sane mechanical speed,
bwang 185:5c102874b490 97 used to filter velocity (rad/s)*/
bwang 185:5c102874b490 98 #define W_CRAZY 2000.0f
bwang 185:5c102874b490 99
bwang 185:5c102874b490 100 #define PI 3.141593f
bwang 185:5c102874b490 101
bwang 185:5c102874b490 102 /*---rc throttle---*/
bwang 185:5c102874b490 103
bwang 185:5c102874b490 104 #define TH_PIN PB_8
bwang 185:5c102874b490 105 #define TH_LIMIT_LOW 1520//1050 //1520 //uS
bwang 185:5c102874b490 106 #define TH_LIMIT_HIGH 1720//1950 //1720
bwang 185:5c102874b490 107
bwang 185:5c102874b490 108 /*---table---*/
bwang 185:5c102874b490 109
bwang 185:5c102874b490 110 #define ROWS 21
bwang 185:5c102874b490 111 #define COLUMNS 20
bwang 185:5c102874b490 112
bwang 185:5c102874b490 113 #define W_STEP 150.f
bwang 185:5c102874b490 114
bwang 185:5c102874b490 115 #endif