50 lines
2.5 KiB
C
50 lines
2.5 KiB
C
// default configuration values
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// change this file to optimal values for your application
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#define DEF_POWER_SUPPLY 12.0f //!< default power supply voltage
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// velocity PI controller params
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#define DEF_PID_VEL_P 0.5f //!< default PID controller P value
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#define DEF_PID_VEL_I 10.0f //!< default PID controller I value
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#define DEF_PID_VEL_D 0.0f //!< default PID controller D value
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#define DEF_PID_VEL_RAMP 1000.0f //!< default PID controller voltage ramp value
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#define DEF_PID_VEL_LIMIT (DEF_POWER_SUPPLY) //!< default PID controller voltage limit
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// current sensing PID values
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#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__) || defined(__AVR_ATmega2560__)
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// for 16Mhz controllers like Arduino uno and mega
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#define DEF_PID_CURR_P 2 //!< default PID controller P value
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#define DEF_PID_CURR_I 100 //!< default PID controller I value
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#define DEF_PID_CURR_D 0.0f //!< default PID controller D value
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#define DEF_PID_CURR_RAMP 1000.0f //!< default PID controller voltage ramp value
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#define DEF_PID_CURR_LIMIT (DEF_POWER_SUPPLY) //!< default PID controller voltage limit
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#define DEF_CURR_FILTER_Tf 0.01f //!< default velocity filter time constant
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#else
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// for stm32, due, teensy, esp32 and similar
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#define DEF_PID_CURR_P 3 //!< default PID controller P value
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#define DEF_PID_CURR_I 300.0f //!< default PID controller I value
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#define DEF_PID_CURR_D 0.0f //!< default PID controller D value
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#define DEF_PID_CURR_RAMP 0 //!< default PID controller voltage ramp value
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#define DEF_PID_CURR_LIMIT (DEF_POWER_SUPPLY) //!< default PID controller voltage limit
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#define DEF_CURR_FILTER_Tf 0.005f //!< default currnet filter time constant
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#endif
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// default current limit values
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#define DEF_CURRENT_LIM 2.0f //!< 2Amps current limit by default
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// default monitor downsample
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#define DEF_MON_DOWNSMAPLE 100 //!< default monitor downsample
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#define DEF_MOTION_DOWNSMAPLE 0 //!< default motion downsample - disable
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// angle P params
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#define DEF_P_ANGLE_P 20.0f //!< default P controller P value
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#define DEF_VEL_LIM 20.0f //!< angle velocity limit default
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// index search
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#define DEF_INDEX_SEARCH_TARGET_VELOCITY 1.0f //!< default index search velocity
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// align voltage
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#define DEF_VOLTAGE_SENSOR_ALIGN 3.0f //!< default voltage for sensor and motor zero alignemt
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// low pass filter velocity
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#define DEF_VEL_FILTER_Tf 0.005 //!< default velocity filter time constant
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// current sense default parameters
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#define DEF_LPF_PER_PHASE_CURRENT_SENSE_Tf 0.0f //!< default currnet sense per phase low pass filter time constant
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