Diff: constants.h

Revision:

6:4960629abb90

Parent:

5:eeb8af99cb6c

--- a/constants.h	Thu Feb 26 09:50:36 2015 +0000
+++ b/constants.h	Thu Feb 26 14:09:19 2015 +0000
@@ -23,6 +23,12 @@
 #define THROTTLE_DB .182f
 
 #define SPEED_LPF 0.9f
+#define CURRENT_LPF 0.9f
+
+#define IMAX 0.001f //LOL ARBITRARY CURRENT UNITS
+#define Kp_i 1000.0f
+#define Ki_i 1.0f
+#define Kd_i 1.0f
 
 #define _PH_A D6
 #define _PH_B D13
@@ -41,8 +47,6 @@
 #define _IA A1
 #define _IB A2
 
-#define ISET 0
-
 #define ATAN_TABLE_SIZE 2000
 #define ATAN_UPPER_BOUND 20
 /*************************************************/
@@ -116,12 +120,17 @@
   float dtc_a, dtc_b, dtc_c;
   
   float throttle;
+  float command;
   float sensor_phase;
   float angle;
   float lastangle;
   float speed; 
   float current;
-  float izero;
+  float iazero;
+  float ibzero;
+  float ilast;
+  float iP, iI, iD;
+  float dtc;
   unsigned char debug_stop;
 } Motor;