Chetan Sharma
/
HKCC_Controller_MBed_OS
Modifying the HKCC for no readily apparent reason
Diff: Config/user_config.h
- Revision:
- 25:f5741040c4bb
- Parent:
- 24:58c2d7571207
- Child:
- 26:2b865c00d7e9
--- a/Config/user_config.h Fri Apr 07 16:23:39 2017 +0000 +++ b/Config/user_config.h Sun Apr 09 03:05:52 2017 +0000 @@ -4,14 +4,14 @@ #define USER_CONFIG_H -#define E_OFFSET __float_reg[0] -#define M_OFFSET __float_reg[1] -#define I_BW __float_reg[2] -#define TORQUE_LIMIT __float_reg[3] +#define E_OFFSET __float_reg[0] // Encoder electrical offset +#define M_OFFSET __float_reg[1] // Encoder mechanical offset +#define I_BW __float_reg[2] // Current loop bandwidth +#define TORQUE_LIMIT __float_reg[3] // Torque limit (current limit = torque_limit/(kt*gear ratio)) -#define PHASE_ORDER __int_reg[0] -#define CAN_ID __int_reg[1] -#define ENCODER_LUT __int_reg[4] +#define PHASE_ORDER __int_reg[0] // Phase swapping during calibration +#define CAN_ID __int_reg[1] // CAN bus ID +#define ENCODER_LUT __int_reg[4] // Encoder offset LUT - 128 elements long extern float __float_reg[]; extern int __int_reg[];