Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

config_loop.h@79:d0b1bb3dcf68, 2017-02-28 (annotated)

Committer:
bwang
Date:
Tue Feb 28 03:32:21 2017 +0000
Revision:
79:d0b1bb3dcf68
Parent:
76:c66014e50384
Child:
88:703780322d5b
added FlashWriter class

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 62:581aa9235ad6 6 #define K_LOOP_D 2.5f
bwang 62:581aa9235ad6 7 #define KI_BASE_D 0.025f
bwang 62:581aa9235ad6 8
bwang 62:581aa9235ad6 9 #define K_LOOP_Q 6.0f
bwang 62:581aa9235ad6 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 24:5e18a87a0e95 18 #define W_FILTER_STRENGTH 0.99f
bwang 64:b4175385d718 19 #define DQ_FILTER_STRENGTH 0.95f
bwang 75:591556ce033d 20 #define THROTTLE_FILTER_STRENGTH 0.0f
bwang 74:f10cb573d7ca 21
bwang 15:b583cd30b063 22
bwang 44:3fd6a43b91f0 23 /*internally computed*/
bwang 58:7316c5a4c417 24 #define KP_D (K_LOOP_D / BUS_VOLTAGE)
bwang 58:7316c5a4c417 25 #define KI_D (KI_BASE_D * K_LOOP_D / BUS_VOLTAGE * 5000.0f / F_SW)
bwang 58:7316c5a4c417 26
bwang 58:7316c5a4c417 27 #define KP_Q (K_LOOP_Q / BUS_VOLTAGE)
bwang 58:7316c5a4c417 28 #define KI_Q (KI_BASE_Q * K_LOOP_Q / BUS_VOLTAGE * 5000.0f / F_SW)
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