shaowen cheng / Mbed 2 deprecated micro_motor_driver2

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Dependencies:   mbed

Diff: Config/current_controller_config.h

Revision:
0:5216ca879852
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Config/current_controller_config.h	Fri Oct 22 07:43:47 2021 +0000
@@ -0,0 +1,28 @@
+#ifndef CURRENT_CONTROLLER_CONFIG_H
+#define CURRENT_CONTROLLER_CONFIG_H
+
+// Current controller///
+#define K_D .05f                    // Loop gain,  Volts/Amp
+#define K_Q .05f                    // Loop gain,  Volts/Amp
+//#define K_SCALE 0.0001f             // K_loop/Loop BW (Hz) 0.0042
+#define K_SCALE 0.00165f
+// #define K_SCALE 0.0008
+//#define K_SCALE 0.0004
+#define KI_D 0.0255f                // PI zero, in radians per sample
+#define KI_Q 0.0255f                // PI zero, in radians per sample
+#define V_BUS 24.0f                 // Volts
+#define OVERMODULATION 1.2f         // 1.0 = no overmodulation
+
+#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