Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: config_loop.h

Revision:
157:a9b2002994d5
Parent:
154:0a22dcf91577
--- a/config_loop.h	Thu May 04 21:16:51 2017 +0000
+++ b/config_loop.h	Sun May 07 16:46:53 2017 +0000
@@ -11,7 +11,8 @@
 
 #define F_SLOW_LOOP 50.0f
 
-#define INTEGRAL_MAX 1.0f
+#define INTEGRAL_MAX 1.5f
+#define OVERMODULATION_FACTOR 0.5f
 
 /*filter strengths, 0-1.0
   higher = stronger filtering*/
@@ -22,11 +23,11 @@
 #define W_FILTER_WINDOW 3
 
 /*internally computed*/
-#define KP_D (K_LOOP_D / BUS_VOLTAGE / MODULATION_MAX)
-#define KI_D (KI_BASE_D * K_LOOP_D / BUS_VOLTAGE * 5000.0f / F_SW / MODULATION_MAX)
+#define KP_D (K_LOOP_D / BUS_VOLTAGE / LINEAR_MODULATION_MAX)
+#define KI_D (KI_BASE_D * K_LOOP_D / BUS_VOLTAGE * 5000.0f / F_SW / LINEAR_MODULATION_MAX)
 
-#define KP_Q (K_LOOP_Q / BUS_VOLTAGE / MODULATION_MAX)
-#define KI_Q (KI_BASE_Q * K_LOOP_Q / BUS_VOLTAGE * 5000.0f / F_SW / MODULATION_MAX)
+#define KP_Q (K_LOOP_Q / BUS_VOLTAGE / LINEAR_MODULATION_MAX)
+#define KI_Q (KI_BASE_Q * K_LOOP_Q / BUS_VOLTAGE * 5000.0f / F_SW / LINEAR_MODULATION_MAX)
 
 #define SLOW_LOOP_COUNTER ((int) (F_SW / F_SLOW_LOOP))