controller.h File Reference

#include "main.h"

Go to the source code of this file.

Macros
#define	REGULATION_TYPE_SYMMETRIC
#define	TE_LOOP_MIN_VALUE   50
#define	TE_LOOP_MAX_VALUE   65534
#define	TE_CURRENT_LOOP_DEFAULT_VAL   50
#define	TE_CONTROL_LOOP_DEFAULT_VAL   350
#define	TE_DATA_LOOP_DEFAULT_VAL   1000
#define	KP_CURRENT_DEFAULT_VAL   200.0f
#define	KI_CURRENT_DEFAULT_VAL   500000.0f
#define	KD_CURRENT_DEFAULT_VAL   0.0f
#define	FF_CURRENT_DEFAULT_VAL   MOTOR_RESISTANCE
#define	CURRENT_INTEGRATOR_SAT_DEFAULT_VAL   10.0f
#define	CURRENT_LOOP_PWM_MAX_DUTY_CYCLE   0.98f
#define	KP_POSITION_DEFAULT_VAL   0.01f
#define	KI_POSITION_DEFAULT_VAL   0.0f
#define	KD_POSITION_DEFAULT_VAL   0.0f
#define	POSITION_INTEGRATOR_SAT_DEFAULT_VAL   0.01f
#define	ENCODER_FILT_TAU_DEFAULT_VAL   0.999f
#define	FILTER_TYPE_NONE   0
#define	FILTER_TYPE_FIRST_ORDER   1
#define	FILTER_TYPE_RUNNING_MEAN   2

Functions
void	ctrl_Init (void)
	Initialize the position and current controllers. More...
void	ctrl_StartCurrentLoop (void)
	Start the current regulation. More...

Macro Definition Documentation

#define CURRENT_INTEGRATOR_SAT_DEFAULT_VAL   10.0f

#define CURRENT_LOOP_PWM_MAX_DUTY_CYCLE   0.98f

#define ENCODER_FILT_TAU_DEFAULT_VAL   0.999f

#define FF_CURRENT_DEFAULT_VAL   MOTOR_RESISTANCE

#define FILTER_TYPE_FIRST_ORDER   1

#define FILTER_TYPE_NONE   0

#define FILTER_TYPE_RUNNING_MEAN   2

#define KD_CURRENT_DEFAULT_VAL   0.0f

#define KD_POSITION_DEFAULT_VAL   0.0f

#define KI_CURRENT_DEFAULT_VAL   500000.0f

#define KI_POSITION_DEFAULT_VAL   0.0f

#define KP_CURRENT_DEFAULT_VAL   200.0f

#define KP_POSITION_DEFAULT_VAL   0.01f

#define POSITION_INTEGRATOR_SAT_DEFAULT_VAL   0.01f

#define REGULATION_TYPE_SYMMETRIC

#define TE_CONTROL_LOOP_DEFAULT_VAL   350

#define TE_CURRENT_LOOP_DEFAULT_VAL   50

#define TE_DATA_LOOP_DEFAULT_VAL   1000

#define TE_LOOP_MAX_VALUE   65534

#define TE_LOOP_MIN_VALUE   50