Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

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Dependencies:   FastPWM3 mbed

Diff: BREMS/derived.h

Revision:
188:43f50a4cc040
Parent:
185:5c102874b490
Child:
189:760cd81a7633
diff -r 523cf8c962e4 -r 43f50a4cc040 BREMS/derived.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BREMS/derived.h	Sat Feb 10 00:13:04 2018 +0000
@@ -0,0 +1,23 @@
+/*
+ *derived macros for the controller
+ *don't change these unless you know what you're doing!
+ */
+ 
+#ifndef __DERIVED_H
+#define __DERIVED_H
+
+#include "defaults.h"
+
+/*max modulation depth at which inveter is still linear*/
+#define LINEAR_MODULATION_MAX (2.f * LINEAR_DTC_MAX - 1.f)
+
+/*internally computed loop parameters*/
+#define KP_D (K_LOOP_D / BUS_VOLTAGE / LINEAR_MODULATION_MAX)
+#define KI_D (KI_BASE_D * K_LOOP_D / BUS_VOLTAGE * 5000.0f / F_SW / LINEAR_MODULATION_MAX)
+
+#define KP_Q (K_LOOP_Q / BUS_VOLTAGE / LINEAR_MODULATION_MAX)
+#define KI_Q (KI_BASE_Q * K_LOOP_Q / BUS_VOLTAGE * 5000.0f / F_SW / LINEAR_MODULATION_MAX)
+
+#define SLOW_LOOP_COUNTER ((int) (F_SW / F_SLOW_LOOP))
+
+#endif
\ No newline at end of file