defaults.h

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// default configuration values
// change this file to optimal values for your application
 
#define DEF_POWER_SUPPLY 12.0 
// velocity PI controller params
#define DEF_PID_VEL_P 0.5 
#define DEF_PID_VEL_I 10.0 
#define DEF_PID_VEL_D 0.0 
#define DEF_PID_VEL_RAMP 1000.0 
#define DEF_PID_VEL_LIMIT (DEF_POWER_SUPPLY) 
 
// current sensing PID values
#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__)  || defined(__AVR_ATmega2560__)
// for 16Mhz controllers like Arduino uno and mega
#define DEF_PID_CURR_P 2 
#define DEF_PID_CURR_I 100 
#define DEF_PID_CURR_D 0.0 
#define DEF_PID_CURR_RAMP 1000.0 
#define DEF_PID_CURR_LIMIT (DEF_POWER_SUPPLY) 
#define DEF_CURR_FILTER_Tf 0.01 
#else 
// for stm32, due, teensy, esp32 and similar
#define DEF_PID_CURR_P 3 
#define DEF_PID_CURR_I 300.0 
#define DEF_PID_CURR_D 0.0 
#define DEF_PID_CURR_RAMP 1e11 
#define DEF_PID_CURR_LIMIT (DEF_POWER_SUPPLY) 
#define DEF_CURR_FILTER_Tf 0.005 
#endif
// default current limit values
#define DEF_CURRENT_LIM 0.2 
 
// default monitor downsample
#define DEF_MON_DOWNSMAPLE 100 
#define DEF_MOTION_DOWNSMAPLE 0 
 
// angle P params
#define DEF_P_ANGLE_P 20.0 
#define DEF_VEL_LIM 20.0 
 
// index search 
#define DEF_INDEX_SEARCH_TARGET_VELOCITY 1.0 
// align voltage
#define DEF_VOLTAGE_SENSOR_ALIGN 3.0 
// low pass filter velocity
#define DEF_VEL_FILTER_Tf 0.005 //!< default velocity filter time constant