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FOC_right.xml
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FOC_right.xml
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<?xml version="1.0" encoding="UTF-8"?>
<MCConfiguration>
<gpd_current_kp>0.03</gpd_current_kp>
<foc_encoder_sin_gain>1</foc_encoder_sin_gain>
<sl_bemf_coupling_k>600</sl_bemf_coupling_k>
<foc_pll_kp>2000</foc_pll_kp>
<l_temp_accel_dec>0.15</l_temp_accel_dec>
<l_min_duty>0.005</l_min_duty>
<gpd_current_ki>50</gpd_current_ki>
<sl_cycle_int_rpm_br>80000</sl_cycle_int_rpm_br>
<foc_motor_l>5.161e-5</foc_motor_l>
<l_temp_motor_end>100</l_temp_motor_end>
<si_gear_ratio>2.769</si_gear_ratio>
<l_watt_min>-2000</l_watt_min>
<l_in_current_max>99</l_in_current_max>
<si_wheel_diameter>0.083</si_wheel_diameter>
<foc_sl_openloop_time>0.1</foc_sl_openloop_time>
<foc_temp_comp_base_temp>25</foc_temp_comp_base_temp>
<l_max_erpm_fbrake_cc>1500</l_max_erpm_fbrake_cc>
<l_battery_cut_end>35</l_battery_cut_end>
<hall_sl_erpm>2000</hall_sl_erpm>
<foc_current_ki>22.99</foc_current_ki>
<foc_duty_dowmramp_kp>10</foc_duty_dowmramp_kp>
<cc_ramp_step_max>0.04</cc_ramp_step_max>
<s_pid_kp>0.004</s_pid_kp>
<sl_min_erpm>150</sl_min_erpm>
<motor_sensor_type>0</motor_sensor_type>
<foc_hall_table__2>164</foc_hall_table__2>
<p_pid_ang_div>1</p_pid_ang_div>
<m_dc_f_sw>25000</m_dc_f_sw>
<foc_hall_table__3>1</foc_hall_table__3>
<foc_hall_table__4>100</foc_hall_table__4>
<foc_hall_table__1>30</foc_hall_table__1>
<hall_table__4>5</hall_table__4>
<si_battery_ah>6</si_battery_ah>
<si_battery_type>1</si_battery_type>
<sl_cycle_int_limit>62</sl_cycle_int_limit>
<foc_hall_table__0>255</foc_hall_table__0>
<motor_loss_torque>0.03</motor_loss_torque>
<foc_sample_high_current>0</foc_sample_high_current>
<foc_encoder_sin_offset>1.65</foc_encoder_sin_offset>
<foc_dt_us>0.08</foc_dt_us>
<foc_encoder_cos_gain>1</foc_encoder_cos_gain>
<m_encoder_counts>8192</m_encoder_counts>
<s_pid_kd>0.0001</s_pid_kd>
<motor_type>2</motor_type>
<hall_table__5>6</hall_table__5>
<foc_pll_ki>30000</foc_pll_ki>
<l_current_min_scale>1</l_current_min_scale>
<l_abs_current_max>100</l_abs_current_max>
<foc_current_filter_const>0.1</foc_current_filter_const>
<m_ntc_motor_beta>3380</m_ntc_motor_beta>
<motor_quality_magnets>0</motor_quality_magnets>
<foc_current_kp>0.0516</foc_current_kp>
<hall_table__2>3</hall_table__2>
<gpd_current_filter_const>0.1</gpd_current_filter_const>
<l_watt_max>2000</l_watt_max>
<motor_quality_description><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
p, li { white-space: pre-wrap; }
</style></head><body style=" font-family:'DejaVu Sans'; font-size:11pt; font-weight:400; font-style:normal;">
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Some comments about the motor quality. Images can be added as well.</p></body></html></motor_quality_description>
<m_sensor_port_mode>0</m_sensor_port_mode>
<foc_hall_table__6>130</foc_hall_table__6>
<motor_description><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
p, li { white-space: pre-wrap; }
</style></head><body style=" font-family:'DejaVu Sans'; font-size:11pt; font-weight:400; font-style:normal;">
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">A motor description can be edited here.</p></body></html></motor_description>
<cc_gain>0.0046</cc_gain>
<l_min_vin>33</l_min_vin>
<hall_table__1>1</hall_table__1>
<m_drv8301_oc_mode>0</m_drv8301_oc_mode>
<hall_table__3>2</hall_table__3>
<m_bldc_f_sw_min>3000</m_bldc_f_sw_min>
<motor_quality_construction>0</motor_quality_construction>
<l_current_max_scale>1</l_current_max_scale>
<foc_encoder_cos_offset>1.65</foc_encoder_cos_offset>
<foc_encoder_offset>180</foc_encoder_offset>
<foc_motor_flux_linkage>0.015708</foc_motor_flux_linkage>
<l_battery_cut_start>38</l_battery_cut_start>
<foc_hall_table__5>64</foc_hall_table__5>
<l_temp_fet_start>85</l_temp_fet_start>
<foc_sensor_mode>2</foc_sensor_mode>
<m_duty_ramp_step>0.02</m_duty_ramp_step>
<l_max_duty>0.95</l_max_duty>
<sl_max_fullbreak_current_dir_change>10</sl_max_fullbreak_current_dir_change>
<motor_quality_bearings>0</motor_quality_bearings>
<s_pid_kd_filter>0.2</s_pid_kd_filter>
<motor_poles>14</motor_poles>
<foc_sample_v0_v7>0</foc_sample_v0_v7>
<foc_encoder_ratio>7</foc_encoder_ratio>
<l_max_erpm_fbrake>300</l_max_erpm_fbrake>
<l_slow_abs_current>1</l_slow_abs_current>
<foc_observer_gain>4.05e+6</foc_observer_gain>
<m_drv8301_oc_adj>16</m_drv8301_oc_adj>
<p_pid_kd>0.0004</p_pid_kd>
<foc_openloop_rpm>700</foc_openloop_rpm>
<p_pid_ki>0</p_pid_ki>
<foc_f_sw>20000</foc_f_sw>
<cc_min_current>0.1</cc_min_current>
<comm_mode>0</comm_mode>
<cc_startup_boost_duty>0.01</cc_startup_boost_duty>
<l_temp_fet_end>100</l_temp_fet_end>
<gpd_buffer_notify_left>200</gpd_buffer_notify_left>
<hall_table__7>-1</hall_table__7>
<motor_brand>Unnamed</motor_brand>
<m_invert_direction>0</m_invert_direction>
<foc_sl_erpm>4000</foc_sl_erpm>
<m_fault_stop_time_ms>500</m_fault_stop_time_ms>
<sl_min_erpm_cycle_int_limit>1100</sl_min_erpm_cycle_int_limit>
<l_current_min>-30</l_current_min>
<foc_encoder_inverted>0</foc_encoder_inverted>
<foc_sl_d_current_factor>0</foc_sl_d_current_factor>
<motor_model>Not Specified</motor_model>
<m_current_backoff_gain>0.5</m_current_backoff_gain>
<motor_weight>0</motor_weight>
<s_pid_ki>0.004</s_pid_ki>
<l_in_current_min>-30</l_in_current_min>
<foc_duty_dowmramp_ki>200</foc_duty_dowmramp_ki>
<foc_motor_r>0.023</foc_motor_r>
<gpd_buffer_interpol>0</gpd_buffer_interpol>
<p_pid_kp>0.03</p_pid_kp>
<si_motor_poles>4</si_motor_poles>
<sensor_mode>2</sensor_mode>
<l_max_vin>57</l_max_vin>
<foc_hall_table__7>255</foc_hall_table__7>
<m_out_aux_mode>0</m_out_aux_mode>
<sl_phase_advance_at_br>0.8</sl_phase_advance_at_br>
<si_battery_cells>12</si_battery_cells>
<pwm_mode>1</pwm_mode>
<foc_sat_comp>0</foc_sat_comp>
<p_pid_kd_filter>0.2</p_pid_kd_filter>
<l_max_erpm>7000</l_max_erpm>
<foc_sl_d_current_duty>0</foc_sl_d_current_duty>
<hall_table__6>4</hall_table__6>
<l_erpm_start>0.7</l_erpm_start>
<hall_table__0>-1</hall_table__0>
<s_pid_allow_braking>1</s_pid_allow_braking>
<foc_sl_openloop_hyst>0.1</foc_sl_openloop_hyst>
<m_bldc_f_sw_max>35000</m_bldc_f_sw_max>
<s_pid_min_erpm>900</s_pid_min_erpm>
<foc_observer_gain_slow>0.3</foc_observer_gain_slow>
<l_temp_motor_start>100</l_temp_motor_start>
<foc_encoder_sincos_filter_constant>0.5</foc_encoder_sincos_filter_constant>
<l_min_erpm>-2000</l_min_erpm>
<l_current_max>30</l_current_max>
<foc_temp_comp>0</foc_temp_comp>
</MCConfiguration>