Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: config_pins.h

Revision:
19:a6cf15f89f3d
Child:
24:5e18a87a0e95
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/config_pins.h	Wed Nov 02 12:52:00 2016 +0000
@@ -0,0 +1,28 @@
+#ifndef __CONFIG_PINS_H
+#define __CONFIG_PINS_H
+
+#define PWMA PA_9
+#define PWMB PA_8
+#define PWMC PA_10
+#define EN PB_15
+
+#define IA PA_4
+#define IB PB_0
+
+#define TH_PIN PB_8
+
+#define CURRENT_U ib
+#define CURRENT_V ia
+
+#define I_SCALE_RAW 25.0f //mv/A
+#define R_UP 12000.0f //ohms
+#define R_DOWN 3600.0f //ohms
+#define R_BIAS 3600.0f //ohms
+#define AVDD 3300.0f //mV
+
+#define I_OFFSET (AVDD * R_DOWN * R_UP / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))
+#define I_SCALE (R_BIAS * R_DOWN * I_SCALE_RAW / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))
+
+#define set_dtc(phase, value) *phase = (value)
+
+#endif
\ No newline at end of file