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stmbl/conf/template/pid.txt

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cleanup
2017-07-01 03:21:03 +00:00
load adc
new conf system
2017-07-09 22:03:00 +00:00
load reslimit
cleanup
2017-07-01 03:21:03 +00:00
load rev
load fb_switch
load vel
load vel
load vel
load pid
load fault
load hv
load sim
load io
simple iit
2018-09-16 16:21:57 +00:00
load iit
conf fix
2017-07-14 03:41:11 +00:00
link conf
hv sync + sserial fix
2018-03-15 23:32:58 +00:00
hv0.rt_prio = 0.9
cleanup
2017-07-01 03:21:03 +00:00
adc0.rt_prio = 1
new conf system
2017-07-09 22:03:00 +00:00
reslimit0.rt_prio = 3
cleanup
2017-07-01 03:21:03 +00:00
rev0.rt_prio = 4
fb_switch0.rt_prio = 5
vel0.rt_prio = 6
vel1.rt_prio = 6
vel2.rt_prio = 6
io rt_prio fix
2017-07-22 23:29:12 +00:00
io0.rt_prio = 7
cmd clock sync, hv in rt
2020-01-16 03:19:49 +00:00
io0.frt_prio = 3
cleanup
2017-07-01 03:21:03 +00:00
pid0.rt_prio = 8
fault0.rt_prio = 10
simple iit
2018-09-16 16:21:57 +00:00
iit0.rt_prio = 13
cleanup
2017-07-01 03:21:03 +00:00
sim0.rt_prio = 13
energy and power stuff
2017-09-06 00:01:26 +00:00
term0.rt_prio = 16
cleanup
2017-07-01 03:21:03 +00:00
rev0.rev = conf0.cmd_rev
move rev into fb_switch, fb state, enc index hw latch
2017-10-02 19:13:59 +00:00
fb_switch0.mot_rev = conf0.mot_fb_rev
fb_switch0.com_rev = conf0.com_fb_rev
fb_switch0.joint_rev = conf0.joint_fb_rev
uvw fix, sserial
2017-07-19 18:27:21 +00:00
reslimit0.res = conf0.mot_fb_res
cleanup
2017-07-01 03:21:03 +00:00
vel1.j = conf0.j
vel2.j = conf0.j
dual mass pid
2018-09-16 03:54:33 +00:00
pid0.j_mot = conf0.j
-pmsm limits, pid -> bw, sys id
2021-07-14 03:36:01 +00:00
pid0.d = conf0.d
pid0.f = conf0.f
conf0.load
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pid0.o = conf0.o
-pmsm limits, pid -> bw, sys id
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pid0.j_sys = conf0.j_sys
dual mass pid
2018-09-16 03:54:33 +00:00
pid0.j_lpf = conf0.j_lpf
-pmsm limits, pid -> bw, sys id
2021-07-14 03:36:01 +00:00
pid0.pos_bw = conf0.pos_bw
pid0.vel_bw = conf0.vel_bw
pid0.vel_d = conf0.vel_d
cleanup
2017-07-01 03:21:03 +00:00
pid0.vel_g = conf0.vel_g
-pmsm limits, pid -> bw, sys id
2021-07-14 03:36:01 +00:00
pid0.torque_g = conf0.torque_g
pid0.max_vel = conf0.max_vel
pid0.neg_min_vel = conf0.max_vel
pid0.max_acc = conf0.max_acc
pid0.max_torque = conf0.max_force
pid0.neg_min_torque = conf0.max_force
cleanup
2017-07-01 03:21:03 +00:00
fault0.max_sat = conf0.max_sat
fault0.max_pos_error = conf0.max_pos_error
fault0.max_vel_error = conf0.max_vel_error
fault0.max_dc_cur = conf0.max_dc_cur
fault0.max_ac_cur = conf0.max_ac_cur
fault0.max_dc_volt = conf0.max_dc_volt
Update pid.txt
2019-06-07 18:19:57 +00:00
fault0.high_dc_volt = conf0.high_dc_volt
cleanup
2017-07-01 03:21:03 +00:00
fault0.min_dc_volt = conf0.min_dc_volt
fault0.max_hv_temp = conf0.max_hv_temp
fault0.max_mot_temp = conf0.max_mot_temp
fault0.high_hv_temp = conf0.high_hv_temp
fault0.high_mot_temp = conf0.high_mot_temp
fault0.fan_hv_temp = conf0.fan_hv_temp
fault0.fan_mot_temp = conf0.fan_mot_temp
uf
2018-10-05 17:53:54 +00:00
fault0.ac_cur = hv0.abs_cur
cleanup
2017-07-01 03:21:03 +00:00
hv0.rev = conf0.out_rev
hv0.r = conf0.r
hv0.l = conf0.l
hv0.psi = conf0.psi
sys id, curpid bw, svm defalut mode
2021-07-13 18:54:45 +00:00
hv0.cur_bw = conf0.cur_bw
cleanup
2017-07-01 03:21:03 +00:00
hv0.cur_ff = conf0.cur_ff
hv0.cur_ind = conf0.cur_ind
link
2017-07-02 18:55:08 +00:00
hv0.max_cur = conf0.max_ac_cur
uvw fix, sserial
2017-07-19 18:27:21 +00:00
reslimit0.pos_in = rev0.out
fb_switch0.cmd_pos = reslimit0.pos_out
link
2017-07-02 18:55:08 +00:00
fb_switch0.polecount = conf0.polecount
autophase
2017-10-02 22:30:42 +00:00
fb_switch0.en = fault0.en_fb
conf fix
2017-07-14 03:41:11 +00:00
fb_switch0.mot_polecount = conf0.mot_fb_polecount
fb_switch0.joint_polecount = conf0.joint_fb_polecount
fb_switch0.com_polecount = conf0.com_fb_polecount
fb_switch0.mot_offset = conf0.mot_fb_offset
fb_switch0.joint_offset = conf0.joint_fb_offset
fb_switch0.com_offset = conf0.com_fb_offset
fb_switch conf fix
2018-12-28 22:59:38 +00:00
fb_switch0.phase_time = conf0.phase_time
fb_switch0.phase_cur = conf0.phase_cur
vel rev
2017-07-19 18:53:33 +00:00
vel0.pos_in = rev0.out
autophase
2017-10-02 22:30:42 +00:00
vel0.en = fault0.en_fb
cleanup
2017-07-01 03:21:03 +00:00
vel1.pos_in = fb_switch0.vel_fb
autophase
2017-10-02 22:30:42 +00:00
vel1.en = fault0.en_fb
Update pid.txt
2019-08-14 10:44:55 +00:00
vel1.torque = pid0.torque_cmd
cleanup
2017-07-01 03:21:03 +00:00
vel2.pos_in = fb_switch0.com_fb
autophase
2017-10-02 22:30:42 +00:00
vel2.en = fault0.en_fb
Update pid.txt
2019-08-14 10:44:55 +00:00
vel2.torque = pid0.torque_cmd
-pmsm limits, pid -> bw, sys id
2021-07-14 03:36:01 +00:00
pid0.en = fault0.en_pid
vel rev
2017-07-19 18:53:33 +00:00
pid0.pos_ext_cmd = reslimit0.pos_out
cleanup
2017-07-01 03:21:03 +00:00
pid0.vel_ext_cmd = vel0.vel
fix cmd acc ff
2021-09-16 21:34:07 +00:00
pid0.acc_ext_cmd = vel0.acc
link
2017-07-02 18:55:08 +00:00
pid0.pos_fb = fb_switch0.pos_fb
cleanup
2017-07-01 03:21:03 +00:00
pid0.vel_fb = vel1.vel
vel rev
2017-07-19 18:53:33 +00:00
rev0.in_d = vel0.vel
cleanup
2017-07-01 03:21:03 +00:00
fault0.pos_error = pid0.pos_error
fault0.vel_error = pid0.vel_error
-pmsm limits, pid -> bw, sys id
2021-07-14 03:36:01 +00:00
fault0.sat = pid0.sat
cleanup
2017-07-01 03:21:03 +00:00
fault0.dc_volt = hv0.dc_volt
fault0.hv_temp = hv0.hv_temp
fault0.dc_cur = hv0.dc_cur
pragma fix, hv fault fix
2018-04-06 20:10:57 +00:00
fault0.hv_error = hv0.fault
autophase
2017-10-02 22:30:42 +00:00
fault0.fb_ready = fb_switch0.state
cleanup
2017-07-01 03:21:03 +00:00
hv0.en = fault0.en_out
hv0.pos = vel2.pos_out
hv0.vel = vel2.vel
link
2017-07-02 18:55:08 +00:00
hv0.scale = fault0.scale
cleanup
2017-07-01 03:21:03 +00:00
io0.fan = fault0.hv_fan
io0.fault = fault0.fault
io0.state = fault0.state
energy and power stuff
2017-09-06 00:01:26 +00:00
pe0.udc = hv0.dc_volt
pe0.idc = 0
pe0.ud = 0
pe0.uq = 0
hv voltage feedback
2019-05-01 20:39:36 +00:00
pe0.id = hv0.id_fb
pe0.iq = hv0.iq_fb
-pmsm limits, pid -> bw, sys id
2021-07-14 03:36:01 +00:00
pe0.torque = pid0.torque_cmd
energy and power stuff
2017-09-06 00:01:26 +00:00
pe0.vel = vel1.vel
pe0.r = conf0.r
pe0.j = conf0.j
simple iit
2018-09-16 16:21:57 +00:00
pe0.cap = 0.00054
iit0.max_temp = conf0.max_mot_temp
iit0.high_temp = conf0.high_mot_temp
iit0.max_cur = conf0.max_ac_cur
fault0.mot_temp = iit0.temp
Update pid.txt
2019-06-07 18:19:57 +00:00
iit0.cur = hv0.abs_cur