A fork of foc-ed_in_the_bot_compact modified to test motors using bayleyw's prius inverter ECU
Fork of foc-ed_in_the_bot_compact by
Diff: config.h
- Revision:
- 2:eabe8feaaabb
- Parent:
- 1:7b61790f6be9
- Child:
- 5:efd3838b79a6
- Child:
- 7:caebf421f288
- Child:
- 9:074575151e4b
--- a/config.h Wed Mar 09 17:21:01 2016 +0000 +++ b/config.h Fri Mar 18 10:07:35 2016 +0000 @@ -25,11 +25,13 @@ #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))) -#define K_LOOP 5.0f +#define K_LOOP 1.0f #define KI_BASE 0.01f #define BUS_VOLTAGE 20.0f #define KP (K_LOOP / BUS_VOLTAGE) #define KI (KI_BASE * K_LOOP / BUS_VOLTAGE) +#define INTEGRAL_MAX 1.0f + #endif \ No newline at end of file