From 0782ef1b2a20980399ef0a61636aab5d5db2635f Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Fri, 29 Sep 2017 20:59:57 -0700 Subject: [PATCH] Note about shuntAmpGain and currentLim --- MotorControl/low_level.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/MotorControl/low_level.c b/MotorControl/low_level.c index 83f284f6..1d1da1b6 100755 --- a/MotorControl/low_level.c +++ b/MotorControl/low_level.c @@ -84,7 +84,7 @@ Motor_t motors[] = { .shunt_conductance = 1.0f/0.0005f, //[S] .phase_current_rev_gain = 0.0f, // to be set by DRV8301_setup .current_control = { - // .current_lim = 75.0f, //[A] // Note: consistent with 40v/v gain, TODO: auto limit from gain settings + // .current_lim = 75.0f, //[A] // If setting higher than 75A, you MUST change DRV8301_ShuntAmpGain. TODO: make this automatic .current_lim = 10.0f, //[A] .p_gain = 0.0f, // [V/A] should be auto set after resistance and inductance measurement .i_gain = 0.0f, // [V/As] should be auto set after resistance and inductance measurement @@ -167,7 +167,7 @@ Motor_t motors[] = { .shunt_conductance = 1.0f/0.0005f, //[S] .phase_current_rev_gain = 0.0f, // to be set by DRV8301_setup .current_control = { - // .current_lim = 75.0f, //[A] // Note: consistent with 40v/v gain, TODO: auto limit from gain settings + // .current_lim = 75.0f, //[A] // If setting higher than 75A, you MUST change DRV8301_ShuntAmpGain. TODO: make this automatic .current_lim = 10.0f, //[A] .p_gain = 0.0f, // [V/A] should be auto set after resistance and inductance measurement .i_gain = 0.0f, // [V/As] should be auto set after resistance and inductance measurement