Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

config_loop.h@63:f6fd98888e6a, 2017-01-28 (annotated)

Committer:
bwang
Date:
Sat Jan 28 09:12:38 2017 +0000
Revision:
63:f6fd98888e6a
Parent:
62:581aa9235ad6 
higher baudrate, incorrect loop gains, better real-world performance; on gokart 1/28/2017 04:12

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 60:22338b6c7a6e 6 #define K_LOOP_D 1.0f
bwang 60:22338b6c7a6e 7 #define KI_BASE_D 0.01f
bwang 58:7316c5a4c417 8
bwang 60:22338b6c7a6e 9 #define K_LOOP_Q 1.0f
bwang 58:7316c5a4c417 10 #define KI_BASE_Q 0.01f
bwang 15:b583cd30b063 11
bwang 44:3fd6a43b91f0 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 22:72840d3db788 19 #define DQ_FILTER_STRENGTH 0.0f
bwang 15:b583cd30b063 20
bwang 44:3fd6a43b91f0 21 /*internally computed*/
bwang 58:7316c5a4c417 22 #define KP_D (K_LOOP_D / BUS_VOLTAGE)
bwang 58:7316c5a4c417 23 #define KI_D (KI_BASE_D * K_LOOP_D / BUS_VOLTAGE * 5000.0f / F_SW)
bwang 58:7316c5a4c417 24
bwang 58:7316c5a4c417 25 #define KP_Q (K_LOOP_Q / BUS_VOLTAGE)
bwang 58:7316c5a4c417 26 #define KI_Q (KI_BASE_Q * K_LOOP_Q / BUS_VOLTAGE * 5000.0f / F_SW)
bwang 58:7316c5a4c417 27
bwang 44:3fd6a43b91f0 28 #define SLOW_LOOP_COUNTER ((int) (F_SW / F_SLOW_LOOP))
bwang 44:3fd6a43b91f0 29
bwang 15:b583cd30b063 30 #endif