Bayley Wang
robot
config_loop.h@24:5e18a87a0e95, 2016-11-05 (annotated)
- Committer:
- bwang
- Date:
- Sat Nov 05 14:02:22 2016 +0000
- Revision:
- 24:5e18a87a0e95
- Parent:
- 22:72840d3db788
- Child:
- 39:80b38a8e1787
working velocity code, with caveats; fixed 50A iq
Who changed what in which revision?
| User | Revision | Line number | New 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 | 15:b583cd30b063 | 6 | #define K_LOOP 1.0f |
| bwang | 15:b583cd30b063 | 7 | #define KI_BASE 0.01f |
| bwang | 15:b583cd30b063 | 8 | |
| bwang | 22:72840d3db788 | 9 | #define KP (K_LOOP / BUS_VOLTAGE * 5000.0f / F_SW) |
| bwang | 22:72840d3db788 | 10 | #define KI (KI_BASE * K_LOOP / BUS_VOLTAGE * 5000.0f / F_SW) |
| bwang | 15:b583cd30b063 | 11 | |
| bwang | 15:b583cd30b063 | 12 | #define INTEGRAL_MAX 1.0f |
| bwang | 15:b583cd30b063 | 13 | |
| bwang | 24:5e18a87a0e95 | 14 | #define W_FILTER_STRENGTH 0.99f |
| bwang | 22:72840d3db788 | 15 | #define DQ_FILTER_STRENGTH 0.0f |
| bwang | 15:b583cd30b063 | 16 | |
| bwang | 15:b583cd30b063 | 17 | #endif |