Motor control for robots. More compact, less object-oriented revision.

Dependencies:   FastPWM3 mbed-dev-f303

Fork of Hobbyking_Cheetah_V1 by Ben Katz

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Show/hide line numbers current_controller_config.h Source File

current_controller_config.h

00001 #ifndef CURRENT_CONTROLLER_CONFIG_H
00002 #define CURRENT_CONTROLLER_CONFIG_H
00003 
00004 // Current controller///
00005 #define K_D .05f                    // Loop gain,  Volts/Amp
00006 #define K_Q .05f                    // Loop gain,  Volts/Amp
00007 #define K_SCALE 0.0001f             // K_loop/Loop BW (Hz) 0.0042
00008 #define KI_D 0.0255f                // PI zero, in radians per sample
00009 #define KI_Q 0.0255f                // PI zero, in radians per sample
00010 #define V_BUS 24.0f                 // Volts
00011 #define OVERMODULATION 1.2f         // 1.0 = no overmodulation
00012 
00013 #define D_INT_LIM V_BUS/(K_D*KI_D)  // Amps*samples
00014 #define Q_INT_LIM V_BUS/(K_Q*KI_Q)  // Amps*samples
00015 
00016 #define I_MAX 40.0f
00017 
00018 //Observer//
00019 #define DT 0.000025f
00020 #define K_O 0.02f
00021 
00022 
00023 
00024 
00025 #endif