Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

config_loop.h@52:fd3d8df99287, 2017-01-25 (annotated)

Committer:
bwang
Date:
Wed Jan 25 02:08:10 2017 +0000
Revision:
52:fd3d8df99287
Parent:
44:3fd6a43b91f0
Child:
56:c681001dfa46
added integral decay and intent-of-driving check

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 15:b583cd30b063 1 #ifndef __CONFIG_LOOP_H
bwang 15:b583cd30b063 2 #define __CONFIG_LOOP_H
bwang 15:b583cd30b063 3
bwang 22:72840d3db788 4 #include "config_inverter.h"
bwang 22:72840d3db788 5
bwang 15:b583cd30b063 6 #define K_LOOP 1.0f
bwang 15:b583cd30b063 7 #define KI_BASE 0.01f
bwang 15:b583cd30b063 8
bwang 44:3fd6a43b91f0 9 #define F_SLOW_LOOP 100.0f
bwang 15:b583cd30b063 10
bwang 15:b583cd30b063 11 #define INTEGRAL_MAX 1.0f
bwang 15:b583cd30b063 12
bwang 52:fd3d8df99287 13 /*integral decay, fraction per switching cycle*/
bwang 52:fd3d8df99287 14 #define INTEGRAL_DECAY 0.0005f
bwang 52:fd3d8df99287 15
bwang 39:80b38a8e1787 16 /*filter strengths, 0-1.0
bwang 39:80b38a8e1787 17 higher = stronger filtering*/
bwang 24:5e18a87a0e95 18 #define W_FILTER_STRENGTH 0.99f
bwang 22:72840d3db788 19 #define DQ_FILTER_STRENGTH 0.0f
bwang 15:b583cd30b063 20
bwang 44:3fd6a43b91f0 21 /*internally computed*/
bwang 44:3fd6a43b91f0 22 #define KP (K_LOOP / BUS_VOLTAGE * 5000.0f / F_SW)
bwang 44:3fd6a43b91f0 23 #define KI (KI_BASE * K_LOOP / BUS_VOLTAGE * 5000.0f / F_SW)
bwang 44:3fd6a43b91f0 24 #define SLOW_LOOP_COUNTER ((int) (F_SW / F_SLOW_LOOP))
bwang 44:3fd6a43b91f0 25
bwang 15:b583cd30b063 26 #endif