Jared DiCarlo
/
george
motor controller
config.h
- Committer:
- dicarloj
- Date:
- 2016-10-30
- Revision:
- 2:7312ac02785d
- Parent:
- 1:2acd7dfc4b1b
- Child:
- 3:08746709f023
File content as of revision 2:7312ac02785d:
//Configuration constants #ifndef _config #define _config #define M_PI 3.1415926535897932384f #define nullptr 0 #define K_SERIAL_BAUD 115200 //serial over USB baud rate #define K_V_BUS 40.8f //HV battery voltage #define K_Q_CURRENT_MAX 20 //max torque #define K_Q_CURRENT_MIN -1 //max regen torque #define K_P_CURRENT 1.0f //current loop kp #define K_I_CURRENT 0.1f //current loop ki #define K_CURRENT_INT_MAX 20.0f //current loop integral max #define K_AXIS_V_MAX 100.0f //current loop axis voltage max #define K_POS_OFFSET (- 5.78f + M_PI + 0.03f) //electrical position offset //from bayley #define POLE_PAIRS 3.0f #define RESOLVER_LOBES 3.0f #define CPR 4096 #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))) #endif