Modifying the HKCC for no readily apparent reason

Dependencies:   FastPWM3

Committer:
benkatz
Date:
Fri Mar 31 18:24:46 2017 +0000
Revision:
22:60276ba87ac6
Parent:
20:bf9ea5125d52
Child:
23:2adf23ee0305
Encoder autocalibration for dc offset and harmonics

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 20:bf9ea5125d52 1 #ifndef CURRENT_CONTROLLER_CONFIG_H
benkatz 20:bf9ea5125d52 2 #define CURRENT_CONTROLLER_CONFIG_H
benkatz 20:bf9ea5125d52 3
benkatz 22:60276ba87ac6 4 #define K_D .02f // Volts/Amp
benkatz 22:60276ba87ac6 5 #define K_Q .02f // Volts/Amp
benkatz 22:60276ba87ac6 6 #define KI_D 0.04f // 1/samples
benkatz 22:60276ba87ac6 7 #define KI_Q 0.04f // 1/samples
benkatz 22:60276ba87ac6 8 #define V_BUS 14.0f // Volts
benkatz 20:bf9ea5125d52 9
benkatz 22:60276ba87ac6 10 #define D_INT_LIM V_BUS/(K_D*KI_D) // Amps*samples
benkatz 22:60276ba87ac6 11 #define Q_INT_LIM V_BUS/(K_Q*KI_Q) // Amps*samples
benkatz 20:bf9ea5125d52 12
benkatz 20:bf9ea5125d52 13
benkatz 20:bf9ea5125d52 14
benkatz 20:bf9ea5125d52 15 #endif