Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

layout.h

Committer:
bwang
Date:
2018-02-09
Revision:
184:633119bb0b77
Child:
189:760cd81a7633

File content as of revision 184:633119bb0b77:

#ifndef __LAYOUT_H
#define __LAYOUT_H

#define PWMA PA_8
#define PWMB PA_9
#define PWMC PA_10
#define EN PB_15

#define IA PA_4
#define IB PB_0

#define TH_PIN PB_8

#define LOG_TX PC_10
#define LOG_RX PC_11

#define I_SCALE_RAW 25.0f //mv/A
#define R_UP 12000.0f //ohms
#define R_DOWN 3600.0f //ohms
#define R_BIAS 3600.0f //ohms
#define AVDD 3300.0f //mV

//allows for inverting power modules
#define set_dtc(phase, value) *phase = (value)

//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)))

#endif