Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

defaults.h@252:38644631ed97, 2018-11-13 (annotated)

Committer:
bwang
Date:
Tue Nov 13 17:46:23 2018 +0000
Revision:
252:38644631ed97
Parent:
243:96b03b3bf3ef 
11/13/2018 12:45 - hitting <return> on empty line prints "\r>", so that hitting enter after intially connecting to the controller generates a prompt

Who changed what in which revision?

UserRevisionLine numberNew 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 /*---rc throttle---*/
bwang 185:5c102874b490 98
bwang 185:5c102874b490 99 #define TH_PIN PB_8
bwang 185:5c102874b490 100 #define TH_LIMIT_LOW 1520//1050 //1520 //uS
bwang 185:5c102874b490 101 #define TH_LIMIT_HIGH 1720//1950 //1720
bwang 185:5c102874b490 102
bwang 185:5c102874b490 103 /*---table---*/
bwang 185:5c102874b490 104
bwang 185:5c102874b490 105 #define W_STEP 150.f
bwang 185:5c102874b490 106
bwang 243:96b03b3bf3ef 107 /*---speed mode---*/
bwang 243:96b03b3bf3ef 108
bwang 243:96b03b3bf3ef 109 #define K_LOOP_W 0.0f
bwang 243:96b03b3bf3ef 110 #define KI_BASE_W 0.0f
bwang 243:96b03b3bf3ef 111 #define W_SETPOINT_MAX 1500.0f
bwang 243:96b03b3bf3ef 112 #define W_LOOP_MAX_TQ 1.0f
bwang 243:96b03b3bf3ef 113
bwang 185:5c102874b490 114 #endif