WOBL #

link pid

link pmsm

link encm_fb0

link misc

conf0.r = 1.2

conf0.l = 0.005

conf0.j = 0.00005

conf0.polecount = 2

conf0.max_ac_cur = 10

conf0.max_force = 4

conf0.mot_fb_offset = 1.57

conf0.max_vel = 837

load avg

load avg

load avg

load debounce

load wobl

avg0.rt_prio = 10

avg1.rt_prio = 10

avg2.rt_prio = 10

debounce0.rt_prio = 10

wobl0.frt_prio = 10

debounce0.debounce_time = 1

debounce0.in = 1

fault0.en = debounce0.out

wobl0.en = debounce0.out

avg0.in = io0.in0

avg1.in = io0.in1

avg2.in = adc0.cos1

wobl0.freq = avg0.out

wobl0.freq_diff = avg1.out

rev0.in = wobl0.pos

conf0.vel_g = 0.001



avg0.mult = 5.0

avg1.mult = 0.6

avg2.mult = 1

avg0.offset = -1.2

wobl0.home_pos = 0.0

wobl0.duty = 0.03

fb_switch0.offset_first_enable = 0

fb_switch0.track_fb = 1

conf0.max_pos_error = 0

wobl0.home_pos = 1.2

wobl0.amp = avg2.out

avg2.mult = 0.01



io0.out0 = 0

io0.out_freq = wobl0.out_freq

io0.out1 = wobl0.duty

io0.out2 = wobl0.duty