Test the set param mode
Config/current_controller_config.h
- Committer:
- benkatz
- Date:
- 2018-04-13
- Revision:
- 37:c0f352d6e8e3
- Parent:
- 35:69b24894c11d
- Child:
- 44:8040fa2fcb0d
File content as of revision 37:c0f352d6e8e3:
#ifndef CURRENT_CONTROLLER_CONFIG_H #define CURRENT_CONTROLLER_CONFIG_H // Current controller/// #define K_D .05f // Volts/Amp #define K_Q .05f // Volts/Amp #define K_SCALE 0.0001f // K_loop/Loop BW (Hz) 0.0042 #define KI_D 0.0255f // 1/samples #define KI_Q 0.0255f // 1/samples #define V_BUS 24.0f // Volts #define D_INT_LIM V_BUS/(K_D*KI_D) // Amps*samples #define Q_INT_LIM V_BUS/(K_Q*KI_Q) // Amps*samples #define I_MAX 40.0f //Observer// #define DT 0.000025f #define K_O 0.02f #endif