Added torque mode modifiers & effects definitions

1 files changed, 19 insertions, 0 deletions

diff --git a/simplemotion_defs.h b/simplemotion_defs.h
index d5f6630..f4c0dc5 100644
--- a/simplemotion_defs.h
+++ b/simplemotion_defs.h
@@ -446,6 +446,25 @@
 //anti dither limits

 #define SMP_ANTIDITHER_MODE 230

 

+//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.

+ *

+ *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

+ */

+#define SMP_TORQUE_NOTCH_FILTER 240

+//define damping effect gain in torque control mode, torque added to setpoint equals -speed*gain with

+#define SMP_TORQUE_EFFECT_DAMPING 241

+//define friction effect gain in torque control mode

+#define SMP_TORQUE_EFFECT_FRICTION 242

+//define inertia effect gain in torque control mode, torque added to setpoint equals -acceleration*gain

+#define SMP_TORQUE_EFFECT_INERTIA 243

+

 //secondary feedback loop 300-399

 //NOT IMPLEMENTED YET