Bayley Wang
/
foc-ed_in_the_bot_compact
robot
config_loop.h@101:4f322f608280, 2017-04-11 (annotated)
- Committer:
- bwang
- Date:
- Tue Apr 11 23:37:08 2017 +0000
- Revision:
- 101:4f322f608280
- Parent:
- 100:d100eb7d80ed
- Child:
- 113:bae8e944f756
slightly lower gains
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 | 101:4f322f608280 | 6 | #define K_LOOP_D 0.75f |
bwang | 90:2ef53b1a22de | 7 | #define KI_BASE_D 0.025f |
bwang | 62:581aa9235ad6 | 8 | |
bwang | 101:4f322f608280 | 9 | #define K_LOOP_Q 1.75f |
bwang | 90:2ef53b1a22de | 10 | #define KI_BASE_Q 0.01f |
bwang | 62:581aa9235ad6 | 11 | |
bwang | 76:c66014e50384 | 12 | #define F_SLOW_LOOP 100.0f |
bwang | 15:b583cd30b063 | 13 | |
bwang | 15:b583cd30b063 | 14 | #define INTEGRAL_MAX 1.0f |
bwang | 15:b583cd30b063 | 15 | |
bwang | 39:80b38a8e1787 | 16 | /*filter strengths, 0-1.0 |
bwang | 39:80b38a8e1787 | 17 | higher = stronger filtering*/ |
bwang | 24:5e18a87a0e95 | 18 | #define W_FILTER_STRENGTH 0.99f |
bwang | 93:e7e45957f496 | 19 | #define DQ_FILTER_STRENGTH 0.80f |
bwang | 93:e7e45957f496 | 20 | #define THROTTLE_FILTER_STRENGTH 0.90f |
bwang | 74:f10cb573d7ca | 21 | |
bwang | 15:b583cd30b063 | 22 | |
bwang | 44:3fd6a43b91f0 | 23 | /*internally computed*/ |
bwang | 93:e7e45957f496 | 24 | #define KP_D (K_LOOP_D / BUS_VOLTAGE / MODULATION_MAX) |
bwang | 93:e7e45957f496 | 25 | #define KI_D (KI_BASE_D * K_LOOP_D / BUS_VOLTAGE * 5000.0f / F_SW / MODULATION_MAX) |
bwang | 58:7316c5a4c417 | 26 | |
bwang | 93:e7e45957f496 | 27 | #define KP_Q (K_LOOP_Q / BUS_VOLTAGE / MODULATION_MAX) |
bwang | 93:e7e45957f496 | 28 | #define KI_Q (KI_BASE_Q * K_LOOP_Q / BUS_VOLTAGE * 5000.0f / F_SW / MODULATION_MAX) |
bwang | 58:7316c5a4c417 | 29 | |
bwang | 44:3fd6a43b91f0 | 30 | #define SLOW_LOOP_COUNTER ((int) (F_SW / F_SLOW_LOOP)) |
bwang | 44:3fd6a43b91f0 | 31 | |
bwang | 15:b583cd30b063 | 32 | #endif |