Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: layout.h

Revision:
189:760cd81a7633
Parent:
184:633119bb0b77
Child:
191:66861311bdcd
--- a/layout.h	Sat Feb 10 00:13:04 2018 +0000
+++ b/layout.h	Sat Feb 10 02:47:07 2018 +0000
@@ -20,9 +20,12 @@
 #define R_BIAS 3600.0f //ohms
 #define AVDD 3300.0f //mV
 
-//allows for inverting power modules
+/*allows for inverting power modules*/
 #define set_dtc(phase, value) *phase = (value)
 
+/*inverter linearity limit*/
+#define LINEAR_DTC_MAX 0.945f
+
 //don't change this!
 #define I_OFFSET (AVDD * R_DOWN * R_UP / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))
 #define I_SCALE (R_BIAS * R_DOWN * I_SCALE_RAW / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))