Bayley Wang
robot
config_loop.h@57:fe85b52e223d, 2017-01-28 (annotated)
- Committer:
- bwang
- Date:
- Sat Jan 28 01:56:28 2017 +0000
- Revision:
- 57:fe85b52e223d
- Parent:
- 56:c681001dfa46
- Child:
- 58:7316c5a4c417
fixed loop gain scaling issue
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| bwang | 15:b583cd30b063 | 1 | #ifndef __CONFIG_LOOP_H |
| bwang | 15:b583cd30b063 | 2 | #define __CONFIG_LOOP_H |
| bwang | 15:b583cd30b063 | 3 | |
| bwang | 22:72840d3db788 | 4 | #include "config_inverter.h" |
| bwang | 22:72840d3db788 | 5 | |
| bwang | 15:b583cd30b063 | 6 | #define K_LOOP 1.0f |
| bwang | 15:b583cd30b063 | 7 | #define KI_BASE 0.01f |
| bwang | 15:b583cd30b063 | 8 | |
| bwang | 44:3fd6a43b91f0 | 9 | #define F_SLOW_LOOP 100.0f |
| bwang | 15:b583cd30b063 | 10 | |
| bwang | 15:b583cd30b063 | 11 | #define INTEGRAL_MAX 1.0f |
| bwang | 15:b583cd30b063 | 12 | |
| bwang | 39:80b38a8e1787 | 13 | /*filter strengths, 0-1.0 |
| bwang | 39:80b38a8e1787 | 14 | higher = stronger filtering*/ |
| bwang | 24:5e18a87a0e95 | 15 | #define W_FILTER_STRENGTH 0.99f |
| bwang | 22:72840d3db788 | 16 | #define DQ_FILTER_STRENGTH 0.0f |
| bwang | 15:b583cd30b063 | 17 | |
| bwang | 44:3fd6a43b91f0 | 18 | /*internally computed*/ |
| bwang | 57:fe85b52e223d | 19 | #define KP (K_LOOP / BUS_VOLTAGE) |
| bwang | 44:3fd6a43b91f0 | 20 | #define KI (KI_BASE * K_LOOP / BUS_VOLTAGE * 5000.0f / F_SW) |
| bwang | 44:3fd6a43b91f0 | 21 | #define SLOW_LOOP_COUNTER ((int) (F_SW / F_SLOW_LOOP)) |
| bwang | 44:3fd6a43b91f0 | 22 | |
| bwang | 15:b583cd30b063 | 23 | #endif |