mirror of
https://github.com/rene-dev/stmbl.git
synced 2024-12-24 17:42:10 +00:00
20 lines
491 B
Plaintext
20 lines
491 B
Plaintext
load dc_limits
|
|
load dc_ttc
|
|
dc_limits0.rt_prio = 7
|
|
dc_ttc0.rt_prio = 9
|
|
dc_limits0.r = conf0.r
|
|
dc_limits0.ld = conf0.l
|
|
dc_limits0.lq = conf0.l
|
|
dc_limits0.psi = conf0.psi
|
|
dc_ttc0.psi = conf0.psi
|
|
dc_limits0.ac_volt = hv0.pwm_volt
|
|
dc_limits0.iq = hv0.q_fb
|
|
pid0.max_torque = dc_limits0.max_torque
|
|
pid0.min_torque = dc_limits0.min_torque
|
|
pid0.max_vel = dc_limits0.abs_max_vel
|
|
dc_ttc0.torque = pid0.torque_cor_cmd
|
|
hv0.d_cmd = 0
|
|
hv0.pos = 0
|
|
hv0.phase_mode = 3
|
|
hv0.q_cmd = dc_ttc0.cur
|
|
hv0.cmd_mode = 1 |