Bayley Wang
/
foc-ed_in_the_bot_compact
robot
config_loop.h@70:5e39beeb4a21, 2017-02-05 (annotated)
- Committer:
- bwang
- Date:
- Sun Feb 05 08:41:21 2017 +0000
- Revision:
- 70:5e39beeb4a21
- Parent:
- 64:b4175385d718
- Child:
- 73:d44bc3a46942
added throttle filtering
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 | 62:581aa9235ad6 | 6 | #define K_LOOP_D 2.5f |
bwang | 62:581aa9235ad6 | 7 | #define KI_BASE_D 0.025f |
bwang | 62:581aa9235ad6 | 8 | |
bwang | 62:581aa9235ad6 | 9 | #define K_LOOP_Q 6.0f |
bwang | 62:581aa9235ad6 | 10 | #define KI_BASE_Q 0.01f |
bwang | 62:581aa9235ad6 | 11 | |
bwang | 62:581aa9235ad6 | 12 | /* |
bwang | 60:22338b6c7a6e | 13 | #define K_LOOP_D 1.0f |
bwang | 60:22338b6c7a6e | 14 | #define KI_BASE_D 0.01f |
bwang | 58:7316c5a4c417 | 15 | |
bwang | 60:22338b6c7a6e | 16 | #define K_LOOP_Q 1.0f |
bwang | 58:7316c5a4c417 | 17 | #define KI_BASE_Q 0.01f |
bwang | 62:581aa9235ad6 | 18 | */ |
bwang | 15:b583cd30b063 | 19 | |
bwang | 44:3fd6a43b91f0 | 20 | #define F_SLOW_LOOP 100.0f |
bwang | 15:b583cd30b063 | 21 | |
bwang | 15:b583cd30b063 | 22 | #define INTEGRAL_MAX 1.0f |
bwang | 15:b583cd30b063 | 23 | |
bwang | 39:80b38a8e1787 | 24 | /*filter strengths, 0-1.0 |
bwang | 39:80b38a8e1787 | 25 | higher = stronger filtering*/ |
bwang | 24:5e18a87a0e95 | 26 | #define W_FILTER_STRENGTH 0.99f |
bwang | 64:b4175385d718 | 27 | #define DQ_FILTER_STRENGTH 0.95f |
bwang | 70:5e39beeb4a21 | 28 | #define THROTTLE_FILTER_STRENGTH 0.90f |
bwang | 15:b583cd30b063 | 29 | |
bwang | 44:3fd6a43b91f0 | 30 | /*internally computed*/ |
bwang | 58:7316c5a4c417 | 31 | #define KP_D (K_LOOP_D / BUS_VOLTAGE) |
bwang | 58:7316c5a4c417 | 32 | #define KI_D (KI_BASE_D * K_LOOP_D / BUS_VOLTAGE * 5000.0f / F_SW) |
bwang | 58:7316c5a4c417 | 33 | |
bwang | 58:7316c5a4c417 | 34 | #define KP_Q (K_LOOP_Q / BUS_VOLTAGE) |
bwang | 58:7316c5a4c417 | 35 | #define KI_Q (KI_BASE_Q * K_LOOP_Q / BUS_VOLTAGE * 5000.0f / F_SW) |
bwang | 58:7316c5a4c417 | 36 | |
bwang | 44:3fd6a43b91f0 | 37 | #define SLOW_LOOP_COUNTER ((int) (F_SW / F_SLOW_LOOP)) |
bwang | 44:3fd6a43b91f0 | 38 | |
bwang | 15:b583cd30b063 | 39 | #endif |