Bayley Wang
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foc-ed_in_the_bot_compact
robot
config_loop.h@60:22338b6c7a6e, 2017-01-28 (annotated)
- Committer:
- bwang
- Date:
- Sat Jan 28 04:33:33 2017 +0000
- Revision:
- 60:22338b6c7a6e
- Parent:
- 58:7316c5a4c417
- Child:
- 62:581aa9235ad6
reverted loop 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 | 60:22338b6c7a6e | 6 | #define K_LOOP_D 1.0f |
bwang | 60:22338b6c7a6e | 7 | #define KI_BASE_D 0.01f |
bwang | 58:7316c5a4c417 | 8 | |
bwang | 60:22338b6c7a6e | 9 | #define K_LOOP_Q 1.0f |
bwang | 58:7316c5a4c417 | 10 | #define KI_BASE_Q 0.01f |
bwang | 15:b583cd30b063 | 11 | |
bwang | 44:3fd6a43b91f0 | 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 | 22:72840d3db788 | 19 | #define DQ_FILTER_STRENGTH 0.0f |
bwang | 15:b583cd30b063 | 20 | |
bwang | 44:3fd6a43b91f0 | 21 | /*internally computed*/ |
bwang | 58:7316c5a4c417 | 22 | #define KP_D (K_LOOP_D / BUS_VOLTAGE) |
bwang | 58:7316c5a4c417 | 23 | #define KI_D (KI_BASE_D * K_LOOP_D / BUS_VOLTAGE * 5000.0f / F_SW) |
bwang | 58:7316c5a4c417 | 24 | |
bwang | 58:7316c5a4c417 | 25 | #define KP_Q (K_LOOP_Q / BUS_VOLTAGE) |
bwang | 58:7316c5a4c417 | 26 | #define KI_Q (KI_BASE_Q * K_LOOP_Q / BUS_VOLTAGE * 5000.0f / F_SW) |
bwang | 58:7316c5a4c417 | 27 | |
bwang | 44:3fd6a43b91f0 | 28 | #define SLOW_LOOP_COUNTER ((int) (F_SW / F_SLOW_LOOP)) |
bwang | 44:3fd6a43b91f0 | 29 | |
bwang | 15:b583cd30b063 | 30 | #endif |