Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

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Dependencies:   FastPWM3 mbed

Diff: BREMS/derived.h

Revision:
240:2aaffa217627
Parent:
196:7172e6e28867
--- a/BREMS/derived.h	Sat Nov 10 11:59:50 2018 +0000
+++ b/BREMS/derived.h	Sun Nov 11 12:34:19 2018 +0000
@@ -19,6 +19,9 @@
 #define KP_Q (_K_LOOP_Q / _BUS_VOLTAGE / LINEAR_MODULATION_MAX)
 #define KI_Q (_KI_BASE_Q * _K_LOOP_Q / _BUS_VOLTAGE * 5000.0f / _F_SW / LINEAR_MODULATION_MAX)
 
+#define KP_W (_K_LOOP_W)
+#define KI_W (_KI_BASE_W * _K_LOOP_W * 5000.0f / _F_SW)
+
 #define SLOW_LOOP_COUNTER ((int) (_F_SW / _F_SLOW_LOOP))
 
 #endif
\ No newline at end of file