Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

config_pins.h

Committer:
bwang
Date:
2017-10-01
Revision:
167:7f1f7dd969e2
Parent:
161:19eac809c727
Child:
169:80686bfd1fe9

File content as of revision 167:7f1f7dd969e2:

#ifndef __CONFIG_PINS_H
#define __CONFIG_PINS_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 TH_LIMIT_LOW 1520//1050 //1520 //uS
#define TH_LIMIT_HIGH 1720//1950 //1720

#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

#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)))

#define set_dtc(phase, value) *phase = (value)

#endif