add mc_config.yml config files

Signed-off-by: huhui <huhui@sharkgulf.com>

mc_config.yml

@@ -0,0 +1,170 @@
+##### "配置文件自动生成，不要手动修改!!"
+Version: 1
+CheckCrc: 0
+Motor:
+  Poles: 5
+  Ld: 0.000045
+  Lq: 0.000096
+  Rs: 0.008
+  Flux: 0.019
+  PLLBand: 200
+  EpmPLL: 400
+  PosPLL: 500
+  VelocityW: 190  #kg
+  VelocityC: 145  #cm
+  GearRatio: 6.25 # 1:6.25
+  MaxFwDCurr: 100.0
+Foc:
+  MaxDCVol: 110
+  MinDCVol: 70
+  MaxPhaseCurr: 300
+  MaxRPM: 9000
+  MaxEPMRPM: 300
+  MaxEPMTorque: 100
+  MaxEPMRPMBk: 170
+  MaxEPMTorqueBk: 80
+  MaxTorque: 300
+  MaxEbrkTorque: 40
+  MaxIDC: 100
+  ThroStartVol: 0.85
+  ThroEndVol: 4.15
+  ThroMinVol: 0.4
+  ThroMaxVol: 4.6
+  CurrCtrlBandWith: 1256.0
+  DqLoopDecoupe: 1
+  PID:  #pid controller
+    VelLim:
+      Kp: 0
+      Ki: 0
+      Kd: 0
+    VelCtrl:
+      Kp: 0
+      Ki: 0
+      Kd: 0
+    Autohold:
+      Kp: 0
+      Ki: 0
+      Kd: 0
+    IDCLim:
+      Kp: 0
+      Ki: 0
+      Kd: 0
+Settings:
+  AutoHold: 1
+  BrkShutPower: 0
+  TcsEnable: 0
+  MinCruiseRpm: 1000
+  ExitCruiseRpm: 700
+  EbrkMinRpm: 800
+  EbrkExitRpm: 250
+Gear:
+  - MaxSpeed: 1000
+    MaxTorque: 100
+    MaxIdc: 30
+    ZeroAccl: 500
+    NormalAccl: 100
+    Torque:
+      - 100
+      - 100
+      - 100
+      - 100
+      - 100
+      - 100
+      - 100
+      - 100
+      - 0
+      - 0
+  - MaxSpeed: 1000
+    MaxTorque: 100
+    MaxIdc: 30
+    ZeroAccl: 500
+    NormalAccl: 100
+    Torque:
+      - 100
+      - 100
+      - 100
+      - 100
+      - 100
+      - 100
+      - 100
+      - 100
+      - 0
+      - 0
+  - MaxSpeed: 1000
+    MaxTorque: 100
+    MaxIdc: 30
+    ZeroAccl: 500
+    NormalAccl: 100
+    Torque:
+      - 100
+      - 100
+      - 100
+      - 100
+      - 100
+      - 100
+      - 100
+      - 100
+      - 0
+      - 0
+  - MaxSpeed: 1000
+    MaxTorque: 100
+    MaxIdc: 30
+    ZeroAccl: 500
+    NormalAccl: 100
+    Torque:
+      - 100
+      - 100
+      - 100
+      - 100
+      - 100
+      - 100
+      - 100
+      - 100
+      - 0
+      - 0
+Protect:
+  Motor:
+    - Entry: 130
+      Exit: 120
+      Value: 0
+    - Entry: 120
+      Exit: 110
+      Value: 34
+    - Entry: 110
+      Exit: 100
+      Value: 66
+  MosFet:
+    - Entry: 100
+      Exit: 95
+      Value: 0
+    - Entry: 95
+      Exit: 90
+      Value: 34
+    - Entry: 90
+      Exit: 80
+      Value: 66
+  Voltage:
+    - Entry: 60
+      Exit:  70
+      Value: 0
+EnergyRecovery:  # Braking Energy Recovery
+  - Torque: 0
+    Time:   1000
+  - Torque: 10
+    Time:   500
+  - Torque: 15
+    Time:   400  
+  - Torque: 20
+    Time:   300  
+  - Torque: 35
+    Time:   200  
+  - Torque: 40
+    Time:   200  
+  - Torque: 45
+    Time:   200  
+  - Torque: 50
+    Time:   200  
+  - Torque: 55
+    Time:   200  
+  - Torque: 60
+    Time:   200