Macros
#define	DEF_POWER_SUPPLY 12.0
	default power supply voltage More...

#define	DEF_PID_VEL_P 0.5
	default PID controller P value More...

#define	DEF_PID_VEL_I 10.0
	default PID controller I value More...

#define	DEF_PID_VEL_D 0.0
	default PID controller D value More...

#define	DEF_PID_VEL_RAMP 1000.0
	default PID controller voltage ramp value More...

#define	DEF_PID_VEL_LIMIT (DEF_POWER_SUPPLY)
	default PID controller voltage limit More...

#define	DEF_PID_CURR_P 3
	default PID controller P value More...

#define	DEF_PID_CURR_I 300.0
	default PID controller I value More...

#define	DEF_PID_CURR_D 0.0
	default PID controller D value More...

#define	DEF_PID_CURR_RAMP 1e11
	default PID controller voltage ramp value More...

#define	DEF_PID_CURR_LIMIT (DEF_POWER_SUPPLY)
	default PID controller voltage limit More...

#define	DEF_CURR_FILTER_Tf 0.005
	default currnet filter time constant More...

#define	DEF_CURRENT_LIM 0.2
	2Amps current limit by default More...

#define	DEF_MON_DOWNSMAPLE 100
	default monitor downsample More...

#define	DEF_MOTION_DOWNSMAPLE 0
	default motion downsample - disable More...

#define	DEF_P_ANGLE_P 20.0
	default P controller P value More...

#define	DEF_VEL_LIM 20.0
	angle velocity limit default More...

#define	DEF_INDEX_SEARCH_TARGET_VELOCITY 1.0
	default index search velocity More...

#define	DEF_VOLTAGE_SENSOR_ALIGN 3.0
	default voltage for sensor and motor zero alignemt More...

Macro Definition Documentation

◆ DEF_CURR_FILTER_Tf

#define DEF_CURR_FILTER_Tf 0.005

default currnet filter time constant

Definition at line 29 of file defaults.h.

◆ DEF_CURRENT_LIM

#define DEF_CURRENT_LIM 0.2

2Amps current limit by default

Definition at line 32 of file defaults.h.

◆ DEF_INDEX_SEARCH_TARGET_VELOCITY

#define DEF_INDEX_SEARCH_TARGET_VELOCITY 1.0

default index search velocity

Definition at line 43 of file defaults.h.

◆ DEF_MON_DOWNSMAPLE

#define DEF_MON_DOWNSMAPLE 100

default monitor downsample

Definition at line 35 of file defaults.h.

◆ DEF_MOTION_DOWNSMAPLE

#define DEF_MOTION_DOWNSMAPLE 0

default motion downsample - disable

Definition at line 36 of file defaults.h.

◆ DEF_P_ANGLE_P

#define DEF_P_ANGLE_P 20.0

default P controller P value

Definition at line 39 of file defaults.h.

◆ DEF_PID_CURR_D

#define DEF_PID_CURR_D 0.0

default PID controller D value

Definition at line 26 of file defaults.h.

◆ DEF_PID_CURR_I

#define DEF_PID_CURR_I 300.0

default PID controller I value

Definition at line 25 of file defaults.h.

◆ DEF_PID_CURR_LIMIT

#define DEF_PID_CURR_LIMIT (DEF_POWER_SUPPLY)

default PID controller voltage limit

Definition at line 28 of file defaults.h.

◆ DEF_PID_CURR_P

#define DEF_PID_CURR_P 3

default PID controller P value

Definition at line 24 of file defaults.h.

◆ DEF_PID_CURR_RAMP

#define DEF_PID_CURR_RAMP 1e11

default PID controller voltage ramp value

Definition at line 27 of file defaults.h.

◆ DEF_PID_VEL_D

#define DEF_PID_VEL_D 0.0

default PID controller D value

Definition at line 9 of file defaults.h.

◆ DEF_PID_VEL_I

#define DEF_PID_VEL_I 10.0

default PID controller I value

Definition at line 8 of file defaults.h.

◆ DEF_PID_VEL_LIMIT

#define DEF_PID_VEL_LIMIT (DEF_POWER_SUPPLY)

default PID controller voltage limit

Definition at line 11 of file defaults.h.

◆ DEF_PID_VEL_P

#define DEF_PID_VEL_P 0.5

default PID controller P value

Definition at line 7 of file defaults.h.

◆ DEF_PID_VEL_RAMP

#define DEF_PID_VEL_RAMP 1000.0

default PID controller voltage ramp value

Definition at line 10 of file defaults.h.

◆ DEF_POWER_SUPPLY

#define DEF_POWER_SUPPLY 12.0

default power supply voltage

Definition at line 5 of file defaults.h.

◆ DEF_VEL_LIM

#define DEF_VEL_LIM 20.0

angle velocity limit default

Definition at line 40 of file defaults.h.

◆ DEF_VOLTAGE_SENSOR_ALIGN

#define DEF_VOLTAGE_SENSOR_ALIGN 3.0

default voltage for sensor and motor zero alignemt

Definition at line 45 of file defaults.h.

Macros