Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

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Dependencies:   FastPWM3 mbed

config_loop.h@159:9dbc0657238c, 2017-05-07 (annotated)

Committer:
bwang
Date:
Sun May 07 17:43:41 2017 +0000
Revision:
159:9dbc0657238c
Parent:
157:a9b2002994d5 
05/07/2017 13:42 - bugfix in constrain_norm(), which previously stepped from max to 1 magnitude when limiting kicked in

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 152:6877dceec871 12 #define F_SLOW_LOOP 50.0f
bwang 15:b583cd30b063 13
bwang 157:a9b2002994d5 14 #define INTEGRAL_MAX 1.5f
bwang 157:a9b2002994d5 15 #define OVERMODULATION_FACTOR 0.5f
bwang 15:b583cd30b063 16
bwang 39:80b38a8e1787 17 /*filter strengths, 0-1.0
bwang 39:80b38a8e1787 18 higher = stronger filtering*/
bwang 93:e7e45957f496 19 #define DQ_FILTER_STRENGTH 0.80f
bwang 74:f10cb573d7ca 20
bwang 154:0a22dcf91577 21 /*windows for median filtering*/
bwang 152:6877dceec871 22 #define THROTTLE_FILTER_WINDOW 7
bwang 152:6877dceec871 23 #define W_FILTER_WINDOW 3
bwang 15:b583cd30b063 24
bwang 44:3fd6a43b91f0 25 /*internally computed*/
bwang 157:a9b2002994d5 26 #define KP_D (K_LOOP_D / BUS_VOLTAGE / LINEAR_MODULATION_MAX)
bwang 157:a9b2002994d5 27 #define KI_D (KI_BASE_D * K_LOOP_D / BUS_VOLTAGE * 5000.0f / F_SW / LINEAR_MODULATION_MAX)
bwang 58:7316c5a4c417 28
bwang 157:a9b2002994d5 29 #define KP_Q (K_LOOP_Q / BUS_VOLTAGE / LINEAR_MODULATION_MAX)
bwang 157:a9b2002994d5 30 #define KI_Q (KI_BASE_Q * K_LOOP_Q / BUS_VOLTAGE * 5000.0f / F_SW / LINEAR_MODULATION_MAX)
bwang 58:7316c5a4c417 31
bwang 44:3fd6a43b91f0 32 #define SLOW_LOOP_COUNTER ((int) (F_SW / F_SLOW_LOOP))
bwang 44:3fd6a43b91f0 33
bwang 15:b583cd30b063 34 #endif