Bayley Wang
/
foc-ed_in_the_bot_compact
robot
config_loop.h
- Committer:
- bwang
- Date:
- 2016-12-03
- Revision:
- 39:80b38a8e1787
- Parent:
- 24:5e18a87a0e95
- Child:
- 44:3fd6a43b91f0
File content as of revision 39:80b38a8e1787:
#ifndef __CONFIG_LOOP_H #define __CONFIG_LOOP_H #include "config_inverter.h" #define K_LOOP 1.0f #define KI_BASE 0.01f #define KP (K_LOOP / BUS_VOLTAGE * 5000.0f / F_SW) #define KI (KI_BASE * K_LOOP / BUS_VOLTAGE * 5000.0f / F_SW) #define INTEGRAL_MAX 1.0f /*filter strengths, 0-1.0 higher = stronger filtering*/ #define W_FILTER_STRENGTH 0.99f #define DQ_FILTER_STRENGTH 0.0f #endif