robot

Dependencies:   FastPWM3 mbed

Committer:
bwang
Date:
Thu Apr 06 17:33:47 2017 +0000
Revision:
92:a9dac72d8cac
Parent:
40:22aede3d096f
--PwmIn now checks lower bounds for sanity and fall without rise; --switched to edge aligned pwm to work around prius module propagation delays

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang29:50e6e4e46580 1#ifndef __CONFIG_DRIVING
bwang29:50e6e4e46580 2#define __CONFIG_DRIVING
bwang29:50e6e4e46580 3
bwang30:c25c5bf0d951 4#define TORQUE_MODE true
bwang30:c25c5bf0d951 5
bwang42:030e0ec4eac5 6/*forward torque scaling*/
bwang42:030e0ec4eac5 7#define MAX_TQPCT_PLUS 1.0f
bwang29:50e6e4e46580 8
bwang42:030e0ec4eac5 9/*reverse/regen torque scaling*/
bwang42:030e0ec4eac5 10#define MAX_TQPCT_MINUS 0.3f
bwang42:030e0ec4eac5 11
bwang42:030e0ec4eac5 12/*maximum torque for approximate methods*/
bwang42:030e0ec4eac5 13#define TORQUE_MAX 75.0f
bwang29:50e6e4e46580 14
bwang39:80b38a8e1787 15/*max speed, including any field weakening, rad/s*/
bwang42:030e0ec4eac5 16#define W_MAX 1000.0f
bwang29:50e6e4e46580 17
bwang29:50e6e4e46580 18#endif