Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: config_loop.h
- Revision:
- 44:3fd6a43b91f0
- Parent:
- 39:80b38a8e1787
- Child:
- 52:fd3d8df99287
--- a/config_loop.h Fri Jan 06 09:10:45 2017 +0000 +++ b/config_loop.h Sun Jan 08 09:03:15 2017 +0000 @@ -6,8 +6,7 @@ #define K_LOOP 1.0f #define KI_BASE 0.01f -#define KP (K_LOOP / BUS_VOLTAGE * 5000.0f / F_SW) -#define KI (KI_BASE * K_LOOP / BUS_VOLTAGE * 5000.0f / F_SW) +#define F_SLOW_LOOP 100.0f #define INTEGRAL_MAX 1.0f @@ -16,4 +15,9 @@ #define W_FILTER_STRENGTH 0.99f #define DQ_FILTER_STRENGTH 0.0f +/*internally computed*/ +#define KP (K_LOOP / BUS_VOLTAGE * 5000.0f / F_SW) +#define KI (KI_BASE * K_LOOP / BUS_VOLTAGE * 5000.0f / F_SW) +#define SLOW_LOOP_COUNTER ((int) (F_SW / F_SLOW_LOOP)) + #endif \ No newline at end of file