Bayley Wang
/
foc-ed_in_the_bot_compact
robot
config_loop.h
- Committer:
- bwang
- Date:
- 2017-04-26
- Revision:
- 122:53be0630f79d
- Parent:
- 120:57b6f3b1356b
- Child:
- 124:e70ca81676fc
File content as of revision 122:53be0630f79d:
#ifndef __CONFIG_LOOP_H #define __CONFIG_LOOP_H #include "config_inverter.h" #define K_LOOP_D 0.75f #define KI_BASE_D 0.025f #define K_LOOP_Q 1.75f #define KI_BASE_Q 0.01f #define F_SLOW_LOOP 100.0f #define INTEGRAL_MAX 1.0f /*filter strengths, 0-1.0 higher = stronger filtering*/ #define W_FILTER_STRENGTH 0.90f #define DQ_FILTER_STRENGTH 0.80f #define THROTTLE_FILTER_STRENGTH 0.90f /*internally computed*/ #define KP_D (K_LOOP_D / BUS_VOLTAGE / MODULATION_MAX) #define KI_D (KI_BASE_D * K_LOOP_D / BUS_VOLTAGE * 5000.0f / F_SW / MODULATION_MAX) #define KP_Q (K_LOOP_Q / BUS_VOLTAGE / MODULATION_MAX) #define KI_Q (KI_BASE_Q * K_LOOP_Q / BUS_VOLTAGE * 5000.0f / F_SW / MODULATION_MAX) #define SLOW_LOOP_COUNTER ((int) (F_SW / F_SLOW_LOOP)) #endif