Bayley Wang
/
foc-ed_in_the_bot_compact
robot
config_loop.h@39:80b38a8e1787, 2016-12-03 (annotated)
- Committer:
- bwang
- Date:
- Sat Dec 03 17:49:02 2016 +0000
- Revision:
- 39:80b38a8e1787
- Parent:
- 24:5e18a87a0e95
- Child:
- 44:3fd6a43b91f0
lastest updates; loads of stubs for broken FW and optimization functions
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 | 15:b583cd30b063 | 6 | #define K_LOOP 1.0f |
bwang | 15:b583cd30b063 | 7 | #define KI_BASE 0.01f |
bwang | 15:b583cd30b063 | 8 | |
bwang | 22:72840d3db788 | 9 | #define KP (K_LOOP / BUS_VOLTAGE * 5000.0f / F_SW) |
bwang | 22:72840d3db788 | 10 | #define KI (KI_BASE * K_LOOP / BUS_VOLTAGE * 5000.0f / F_SW) |
bwang | 15:b583cd30b063 | 11 | |
bwang | 15:b583cd30b063 | 12 | #define INTEGRAL_MAX 1.0f |
bwang | 15:b583cd30b063 | 13 | |
bwang | 39:80b38a8e1787 | 14 | /*filter strengths, 0-1.0 |
bwang | 39:80b38a8e1787 | 15 | higher = stronger filtering*/ |
bwang | 24:5e18a87a0e95 | 16 | #define W_FILTER_STRENGTH 0.99f |
bwang | 22:72840d3db788 | 17 | #define DQ_FILTER_STRENGTH 0.0f |
bwang | 15:b583cd30b063 | 18 | |
bwang | 15:b583cd30b063 | 19 | #endif |