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| author | Tero K <tero.k@granitedevices.fi> | 2016-03-02 23:44:00 +0200 |
|---|---|---|
| committer | Tero K <tero.k@granitedevices.fi> | 2016-03-02 23:44:00 +0200 |
| commit | 3efac208723dc1cb8a0cc81c728196bdc3fbd424 (patch) | |
| tree | 1b87a0701db0fc7f331a4919ceac21a07aeedfb4 | |
| parent | 50fa0966f9c784cebc026889ebdc48bbf5068a1e (diff) | |
| download | SimpleMotionV2-3efac208723dc1cb8a0cc81c728196bdc3fbd424.tar.gz SimpleMotionV2-3efac208723dc1cb8a0cc81c728196bdc3fbd424.zip | |
Redefined notch filter parameter meaning
| -rw-r--r-- | simplemotion_defs.h | 7 |
1 files changed, 3 insertions, 4 deletions
diff --git a/simplemotion_defs.h b/simplemotion_defs.h index f4c0dc5..9752e4f 100644 --- a/simplemotion_defs.h +++ b/simplemotion_defs.h @@ -449,13 +449,12 @@ //torque modifiers & effects
/*SMP_TORQUE_NOTCH_FILTER contains 3 values in different bit positions:
* 0-7 (lowest byte), attenuation in 0.1dB steps and value V=1-255 means attenuation of (-V-255)/10 dB gain. if V set 0, use notch filter instead of peaking with "infinite" attenuation. value 255 disables notch filter.
- * 8-15, Q factor in 0.1 steps
- * 16-30, center frequency in 0.2Hz steps so range is 0-1638.3 Hz. value 0 disables the filter.
+ * 8-15, Q factor in 0.1 steps. Minimum is 0.1, below that filter is disabled.
+ * 16-29, center frequency in 0.1Hz steps, and 1.1Hz is minimum, so range is 1.1-409.5 Hz. value below or equal 1Hz disables the filter.
*
- *Example, peaking filter with gain -12.5dB, center freq 1000Hz and Q=5.5 value is: 0x01F43782 (0x01f4=1000/2, 0x37=5.5*10, 0x82=255-12.5*10)
*Example, peaking filter with gain -11.5dB, center freq 20Hz and Q=3.5 value is: 0x00648c23 = dec 6589475
*
- *Notch filter works in all control modes
+ *Notch filter works in all control modes and is applied to torque controller setpoint
*/
#define SMP_TORQUE_NOTCH_FILTER 240
//define damping effect gain in torque control mode, torque added to setpoint equals -speed*gain with
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