Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

config_loop.h

Committer:
bwang
Date:
2016-10-30
Revision:
15:b583cd30b063
Child:
22:72840d3db788

File content as of revision 15:b583cd30b063:

#ifndef __CONFIG_LOOP_H
#define __CONFIG_LOOP_H

#define K_LOOP 1.0f
#define KI_BASE 0.01f

#define KP (K_LOOP / BUS_VOLTAGE)
#define KI (KI_BASE * K_LOOP / BUS_VOLTAGE)

#define INTEGRAL_MAX 1.0f

#define W_FILTER_STRENGTH 0.9f

#endif