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Add bootloader

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This commit is contained in:
Valentin Dabstep 2025-05-22 18:03:43 +03:00
parent 4f42094b0e
commit 6844ca9a8d
35 changed files with 27266 additions and 13 deletions
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10
controller/fw/embed/src/config.cpp
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@ -34,11 +34,11 @@ void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
motor->foc_modulation = FOCModulationType::SpaceVectorPWM;
// PID Configuration
motor->PID_velocity.P = 0.75;
motor->PID_velocity.I = 20;
motor->LPF_velocity.Tf = 0.005;
motor->P_angle.P = 0.5;
motor->LPF_angle.Tf = 0.001;
motor->PID_velocity.P = 0.75f;
motor->PID_velocity.I = 20.0f;
motor->LPF_velocity.Tf = 0.005f;
motor->P_angle.P = 0.5f;
motor->LPF_angle.Tf = 0.001f;
// Motor limits
motor->velocity_limit = 40; // Speed limit in rad/s (382 rpm)