Bayley Wang
/
foc-ed_in_the_bot_compact
robot
defaults.h@189:760cd81a7633, 2018-02-10 (annotated)
- Committer:
- bwang
- Date:
- Sat Feb 10 02:47:07 2018 +0000
- Revision:
- 189:760cd81a7633
- Parent:
- 187:523cf8c962e4
- Child:
- 191:66861311bdcd
02/09/2018 21:45 - started switching code to run on flash-saved parameters instead of hardcoded ones; moved delay in BREMSConfig.cpp to avoid intermittent freeze after programming
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 185:5c102874b490 | 1 | #ifndef __DEFAULTS_H |
bwang | 185:5c102874b490 | 2 | #define __DEFAULTS_H |
bwang | 185:5c102874b490 | 3 | |
bwang | 185:5c102874b490 | 4 | /*---driving (mostly unimplemented)---*/ |
bwang | 185:5c102874b490 | 5 | |
bwang | 185:5c102874b490 | 6 | /*legacy code, indicating there should be no throttle map*/ |
bwang | 185:5c102874b490 | 7 | #define TORQUE_MODE true |
bwang | 185:5c102874b490 | 8 | |
bwang | 185:5c102874b490 | 9 | /*forward torque scaling*/ |
bwang | 185:5c102874b490 | 10 | #define MAX_TQPCT_PLUS 1.0f |
bwang | 185:5c102874b490 | 11 | |
bwang | 185:5c102874b490 | 12 | /*reverse/regen torque scaling*/ |
bwang | 185:5c102874b490 | 13 | #define MAX_TQPCT_MINUS 0.3f |
bwang | 185:5c102874b490 | 14 | |
bwang | 185:5c102874b490 | 15 | /*maximum torque for approximate methods*/ |
bwang | 185:5c102874b490 | 16 | #define TORQUE_MAX 75.0f |
bwang | 185:5c102874b490 | 17 | |
bwang | 185:5c102874b490 | 18 | /*max speed, including any field weakening, rad/s*/ |
bwang | 185:5c102874b490 | 19 | #define W_MAX 1000.0f |
bwang | 185:5c102874b490 | 20 | |
bwang | 185:5c102874b490 | 21 | /*---inverter---*/ |
bwang | 185:5c102874b490 | 22 | |
bwang | 185:5c102874b490 | 23 | /*DC link voltage, volts*/ |
bwang | 185:5c102874b490 | 24 | #define BUS_VOLTAGE 160.0f |
bwang | 185:5c102874b490 | 25 | |
bwang | 185:5c102874b490 | 26 | /*switching frequency, hertz*/ |
bwang | 185:5c102874b490 | 27 | #define F_SW 5000.0f |
bwang | 185:5c102874b490 | 28 | |
bwang | 185:5c102874b490 | 29 | /*propagation delay swizzle factor (+w_m / V_PHASE_SWIZZLE)*/ |
bwang | 185:5c102874b490 | 30 | #define V_PHASE_SWIZZLE 1048.0f |
bwang | 185:5c102874b490 | 31 | |
bwang | 185:5c102874b490 | 32 | /*---logging---*/ |
bwang | 185:5c102874b490 | 33 | |
bwang | 185:5c102874b490 | 34 | #define ENABLE_LOGGING true |
bwang | 185:5c102874b490 | 35 | |
bwang | 185:5c102874b490 | 36 | #define LOG_PAGE_SIZE 4096 |
bwang | 185:5c102874b490 | 37 | #define LOG_HEADER_SIZE 10 |
bwang | 185:5c102874b490 | 38 | #define LOG_PACKET_SIZE 8 |
bwang | 185:5c102874b490 | 39 | #define LOG_BAUD_RATE 921600 |
bwang | 185:5c102874b490 | 40 | |
bwang | 185:5c102874b490 | 41 | /*---loop---*/ |
bwang | 185:5c102874b490 | 42 | #define K_LOOP_D 0.75f |
bwang | 185:5c102874b490 | 43 | #define KI_BASE_D 0.025f |
bwang | 185:5c102874b490 | 44 | |
bwang | 185:5c102874b490 | 45 | #define K_LOOP_Q 1.75f |
bwang | 185:5c102874b490 | 46 | #define KI_BASE_Q 0.01f |
bwang | 185:5c102874b490 | 47 | |
bwang | 185:5c102874b490 | 48 | #define F_SLOW_LOOP 50.0f |
bwang | 185:5c102874b490 | 49 | |
bwang | 185:5c102874b490 | 50 | #define INTEGRAL_MAX 1.5f |
bwang | 185:5c102874b490 | 51 | #define OVERMODULATION_FACTOR 0.5f |
bwang | 185:5c102874b490 | 52 | |
bwang | 185:5c102874b490 | 53 | /*filter strengths, 0-1.0 |
bwang | 185:5c102874b490 | 54 | higher = stronger filtering*/ |
bwang | 185:5c102874b490 | 55 | #define DQ_FILTER_STRENGTH 0.80f |
bwang | 185:5c102874b490 | 56 | |
bwang | 185:5c102874b490 | 57 | /*windows for median filtering*/ |
bwang | 185:5c102874b490 | 58 | #define THROTTLE_FILTER_WINDOW 7 |
bwang | 185:5c102874b490 | 59 | #define W_FILTER_WINDOW 3 |
bwang | 185:5c102874b490 | 60 | |
bwang | 185:5c102874b490 | 61 | /*---motor---*/ |
bwang | 185:5c102874b490 | 62 | |
bwang | 185:5c102874b490 | 63 | /*# of pole pairs*/ |
bwang | 185:5c102874b490 | 64 | #define POLE_PAIRS 3.0f |
bwang | 185:5c102874b490 | 65 | |
bwang | 185:5c102874b490 | 66 | /*electrical position offset, |
bwang | 185:5c102874b490 | 67 | measured as +a, -b, -c (radians)*/ |
bwang | 185:5c102874b490 | 68 | #define POS_OFFSET 5.7614f |
bwang | 185:5c102874b490 | 69 | |
bwang | 185:5c102874b490 | 70 | /*# of resolver lobes*/ |
bwang | 185:5c102874b490 | 71 | #define RESOLVER_LOBES 3.0f |
bwang | 185:5c102874b490 | 72 | |
bwang | 185:5c102874b490 | 73 | /*CPR of encoder or encoder emulator*/ |
bwang | 185:5c102874b490 | 74 | #define CPR 4096 |
bwang | 185:5c102874b490 | 75 | |
bwang | 185:5c102874b490 | 76 | /*d and q axis inductances, henries*/ |
bwang | 185:5c102874b490 | 77 | #define Ld 0.000605f |
bwang | 185:5c102874b490 | 78 | #define Lq 0.001536f |
bwang | 185:5c102874b490 | 79 | |
bwang | 185:5c102874b490 | 80 | /*PM flux linkage, volt-seconds*/ |
bwang | 185:5c102874b490 | 81 | #define FLUX_LINKAGE 0.0529f |
bwang | 185:5c102874b490 | 82 | |
bwang | 185:5c102874b490 | 83 | /*single phase resistance, ohms*/ |
bwang | 185:5c102874b490 | 84 | #define Rs 0.05f |
bwang | 185:5c102874b490 | 85 | |
bwang | 185:5c102874b490 | 86 | /*torque/phase amp for approximate models*/ |
bwang | 185:5c102874b490 | 87 | #define KT 0.3f |
bwang | 185:5c102874b490 | 88 | |
bwang | 185:5c102874b490 | 89 | /*a safe speed below which you |
bwang | 185:5c102874b490 | 90 | never need to field weaken*/ |
bwang | 185:5c102874b490 | 91 | #define W_SAFE 100.0f |
bwang | 185:5c102874b490 | 92 | |
bwang | 185:5c102874b490 | 93 | /*maximum sane mechanical speed, |
bwang | 185:5c102874b490 | 94 | used to filter velocity (rad/s)*/ |
bwang | 185:5c102874b490 | 95 | #define W_CRAZY 2000.0f |
bwang | 185:5c102874b490 | 96 | |
bwang | 185:5c102874b490 | 97 | #define PI 3.141593f |
bwang | 185:5c102874b490 | 98 | |
bwang | 185:5c102874b490 | 99 | /*---rc throttle---*/ |
bwang | 185:5c102874b490 | 100 | |
bwang | 185:5c102874b490 | 101 | #define TH_PIN PB_8 |
bwang | 185:5c102874b490 | 102 | #define TH_LIMIT_LOW 1520//1050 //1520 //uS |
bwang | 185:5c102874b490 | 103 | #define TH_LIMIT_HIGH 1720//1950 //1720 |
bwang | 185:5c102874b490 | 104 | |
bwang | 185:5c102874b490 | 105 | /*---table---*/ |
bwang | 185:5c102874b490 | 106 | |
bwang | 185:5c102874b490 | 107 | #define ROWS 21 |
bwang | 185:5c102874b490 | 108 | #define COLUMNS 20 |
bwang | 185:5c102874b490 | 109 | |
bwang | 185:5c102874b490 | 110 | #define W_STEP 150.f |
bwang | 185:5c102874b490 | 111 | |
bwang | 185:5c102874b490 | 112 | #endif |