defaults.h

Go to the documentation of this file.

// default configuration values
// change this file to optimal values for your application
 
#define DEF_POWER_SUPPLY 12.0f //!< default power supply voltage
// velocity PI controller params
#define DEF_PID_VEL_P 0.5f //!< default PID controller P value
#define DEF_PID_VEL_I 10.0f //!<  default PID controller I value
#define DEF_PID_VEL_D 0.0f //!<  default PID controller D value
#define DEF_PID_VEL_RAMP NOT_SET //!< default PID controller voltage ramp value
#define DEF_PID_VEL_LIMIT (DEF_POWER_SUPPLY) //!< default PID controller voltage limit
 
// 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 //!< default PID controller P value
#define DEF_PID_CURR_I 100 //!<  default PID controller I value
#define DEF_PID_CURR_D 0.0f //!<  default PID controller D value
#define DEF_PID_CURR_RAMP 1000.0f //!< default PID controller voltage ramp value
#define DEF_PID_CURR_LIMIT (DEF_POWER_SUPPLY) //!< default PID controller voltage limit
#define DEF_CURR_FILTER_Tf 0.01f //!< default velocity filter time constant
#define DEF_CURR_BANDWIDTH 100.0f //!< current bandwidth
#else
// for stm32, due, teensy, esp32 and similar
#define DEF_PID_CURR_P 3 //!< default PID controller P value
#define DEF_PID_CURR_I 300.0f //!<  default PID controller I value
#define DEF_PID_CURR_D 0.0f //!<  default PID controller D value
#define DEF_PID_CURR_RAMP 0  //!< default PID controller voltage ramp value
#define DEF_PID_CURR_LIMIT (DEF_POWER_SUPPLY) //!< default PID controller voltage limit
#define DEF_CURR_BANDWIDTH 300.0f //!< current bandwidth
#define DEF_CURR_FILTER_Tf 1/(_2PI*DEF_CURR_BANDWIDTH) //!< default currnet filter time constant
#endif
// default current limit values
#define DEF_CURRENT_LIM 2.0f //!< 2Amps current limit by default
 
// default monitor downsample
#define DEF_MON_DOWNSMAPLE 100 //!< default monitor downsample
#define DEF_MOTION_DOWNSMAPLE 0 //!< default motion downsample - disable
 
// angle P params
#define DEF_P_ANGLE_P 20.0f //!< default P controller P value
#define DEF_VEL_LIM 20.0f //!< angle velocity limit default
 
// index search
#define DEF_INDEX_SEARCH_TARGET_VELOCITY 1.0f //!< default index search velocity
// align voltage
#define DEF_VOLTAGE_SENSOR_ALIGN 3.0f //!< default voltage for sensor and motor zero alignemt
// low pass filter velocity
#define DEF_VEL_FILTER_Tf 0.005f //!< default velocity filter time constant
 
// current sense default parameters
#define DEF_LPF_PER_PHASE_CURRENT_SENSE_Tf 0.0f  //!< default currnet sense per phase low pass filter time constant