Bayley Wang
/
foc-ed_in_the_bot_compact
robot
defaults.h
- Committer:
- bwang
- Date:
- 2018-11-12
- Revision:
- 243:96b03b3bf3ef
- Parent:
- 240:2aaffa217627
File content as of revision 243:96b03b3bf3ef:
#ifndef __DEFAULTS_H #define __DEFAULTS_H /*---driving (mostly unimplemented)---*/ /*legacy code, indicating there should be no throttle map*/ #define TORQUE_MODE true /*forward torque scaling*/ #define MAX_TQPCT_PLUS 1.0f /*reverse/regen torque scaling*/ #define MAX_TQPCT_MINUS 0.3f /*maximum torque for approximate methods*/ #define TORQUE_MAX 75.0f /*max speed, including any field weakening, rad/s*/ #define W_MAX 1000.0f /*---inverter---*/ /*DC link voltage, volts*/ #define BUS_VOLTAGE 160.0f /*switching frequency, hertz*/ #define F_SW 5000.0f /*propagation delay swizzle factor (+w_m / V_PHASE_SWIZZLE)*/ #define V_PHASE_SWIZZLE 1048.0f /*---logging---*/ #define ENABLE_LOGGING true #define LOG_PAGE_SIZE 4096 #define LOG_HEADER_SIZE 10 #define LOG_PACKET_SIZE 8 #define LOG_BAUD_RATE 921600 /*---loop---*/ #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 50.0f #define INTEGRAL_MAX 1.5f #define OVERMODULATION_FACTOR 0.5f /*filter strengths, 0-1.0 higher = stronger filtering*/ #define DQ_FILTER_STRENGTH 0.80f /*windows for median filtering*/ #define THROTTLE_FILTER_WINDOW 7 #define W_FILTER_WINDOW 3 /*---motor---*/ /*# of pole pairs*/ #define POLE_PAIRS 3.0f /*electrical position offset, measured as +a, -b, -c (radians)*/ #define POS_OFFSET 5.7614f /*# of resolver lobes*/ #define RESOLVER_LOBES 3.0f /*CPR of encoder or encoder emulator*/ #define CPR 4096 /*d and q axis inductances, henries*/ #define Ld 0.000605f #define Lq 0.001536f /*PM flux linkage, volt-seconds*/ #define FLUX_LINKAGE 0.0529f /*single phase resistance, ohms*/ #define Rs 0.05f /*torque/phase amp for approximate models*/ #define KT 0.3f /*a safe speed below which you never need to field weaken*/ #define W_SAFE 100.0f /*maximum sane mechanical speed, used to filter velocity (rad/s)*/ #define W_CRAZY 2000.0f /*---rc throttle---*/ #define TH_PIN PB_8 #define TH_LIMIT_LOW 1520//1050 //1520 //uS #define TH_LIMIT_HIGH 1720//1950 //1720 /*---table---*/ #define W_STEP 150.f /*---speed mode---*/ #define K_LOOP_W 0.0f #define KI_BASE_W 0.0f #define W_SETPOINT_MAX 1500.0f #define W_LOOP_MAX_TQ 1.0f #endif