Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

config_loop.h@120:57b6f3b1356b, 2017-04-25 (annotated)

Committer:
bwang
Date:
Tue Apr 25 07:03:08 2017 +0000
Revision:
120:57b6f3b1356b
Parent:
113:bae8e944f756
Child:
122:53be0630f79d
transitioning to new velocity code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 15:b583cd30b063 1 #ifndef __CONFIG_LOOP_H
bwang 15:b583cd30b063 2 #define __CONFIG_LOOP_H
bwang 15:b583cd30b063 3
bwang 22:72840d3db788 4 #include "config_inverter.h"
bwang 22:72840d3db788 5
bwang 120:57b6f3b1356b 6 #define K_LOOP_D 0.75f
bwang 90:2ef53b1a22de 7 #define KI_BASE_D 0.025f
bwang 62:581aa9235ad6 8
bwang 120:57b6f3b1356b 9 #define K_LOOP_Q 1.75f
bwang 90:2ef53b1a22de 10 #define KI_BASE_Q 0.01f
bwang 62:581aa9235ad6 11
bwang 76:c66014e50384 12 #define F_SLOW_LOOP 100.0f
bwang 15:b583cd30b063 13
bwang 15:b583cd30b063 14 #define INTEGRAL_MAX 1.0f
bwang 15:b583cd30b063 15
bwang 39:80b38a8e1787 16 /*filter strengths, 0-1.0
bwang 39:80b38a8e1787 17 higher = stronger filtering*/
bwang 113:bae8e944f756 18 #define W_FILTER_STRENGTH 0.9f
bwang 93:e7e45957f496 19 #define DQ_FILTER_STRENGTH 0.80f
bwang 93:e7e45957f496 20 #define THROTTLE_FILTER_STRENGTH 0.90f
bwang 74:f10cb573d7ca 21
bwang 15:b583cd30b063 22
bwang 44:3fd6a43b91f0 23 /*internally computed*/
bwang 93:e7e45957f496 24 #define KP_D (K_LOOP_D / BUS_VOLTAGE / MODULATION_MAX)
bwang 93:e7e45957f496 25 #define KI_D (KI_BASE_D * K_LOOP_D / BUS_VOLTAGE * 5000.0f / F_SW / MODULATION_MAX)
bwang 58:7316c5a4c417 26
bwang 93:e7e45957f496 27 #define KP_Q (K_LOOP_Q / BUS_VOLTAGE / MODULATION_MAX)
bwang 93:e7e45957f496 28 #define KI_Q (KI_BASE_Q * K_LOOP_Q / BUS_VOLTAGE * 5000.0f / F_SW / MODULATION_MAX)
bwang 58:7316c5a4c417 29
bwang 44:3fd6a43b91f0 30 #define SLOW_LOOP_COUNTER ((int) (F_SW / F_SLOW_LOOP))
bwang 44:3fd6a43b91f0 31
bwang 15:b583cd30b063 32 #endif