Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

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Dependencies:   FastPWM3 mbed

BREMS/derived.h@192:3152a86cd108, 2018-02-10 (annotated)

Committer:
bwang
Date:
Sat Feb 10 03:58:36 2018 +0000
Revision:
192:3152a86cd108
Parent:
190:01674f19f9ce
Child:
196:7172e6e28867
02/09/2018 22:58 - everything but main.cpp and friends moved to flash configuration

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 185:5c102874b490 1 /*
bwang 185:5c102874b490 2 *derived macros for the controller
bwang 185:5c102874b490 3 *don't change these unless you know what you're doing!
bwang 185:5c102874b490 4 */
bwang 185:5c102874b490 5
bwang 185:5c102874b490 6 #ifndef __DERIVED_H
bwang 185:5c102874b490 7 #define __DERIVED_H
bwang 185:5c102874b490 8
bwang 189:760cd81a7633 9 #include "layout.h"
bwang 189:760cd81a7633 10 #include "prefs.h"
bwang 185:5c102874b490 11
bwang 189:760cd81a7633 12 /*max modulation depth at which inverter is still linear*/
bwang 185:5c102874b490 13 #define LINEAR_MODULATION_MAX (2.f * LINEAR_DTC_MAX - 1.f)
bwang 185:5c102874b490 14
bwang 185:5c102874b490 15 /*internally computed loop parameters*/
bwang 190:01674f19f9ce 16 #define KP_D (_K_LOOP_D / _BUS_VOLTAGE / LINEAR_MODULATION_MAX)
bwang 190:01674f19f9ce 17 #define KI_D (_KI_BASE_D * _K_LOOP_D / _BUS_VOLTAGE * 5000.0f / _F_SW / LINEAR_MODULATION_MAX)
bwang 185:5c102874b490 18
bwang 190:01674f19f9ce 19 #define KP_Q (_K_LOOP_Q / _BUS_VOLTAGE / LINEAR_MODULATION_MAX)
bwang 190:01674f19f9ce 20 #define KI_Q (_KI_BASE_Q * _K_LOOP_Q / _BUS_VOLTAGE * 5000.0f / _F_SW / LINEAR_MODULATION_MAX)
bwang 185:5c102874b490 21
bwang 189:760cd81a7633 22 #define SLOW_LOOP_COUNTER ((int) (_F_SW / _F_SLOW_LOOP))
bwang 185:5c102874b490 23
bwang 185:5c102874b490 24 #endif