#include "foc/foc_config.h"
#include "foc/core/PI_Controller.h"

static PI_Controller PI_Ctrl_ID = {
	.kp = S32Q14(0.001f),
	.ki = S32Q14(0.003f),
	.max = S32Q14(MAX_iDQ),
	.min = S32Q14(-MAX_iDQ),
	.Ui = 0,
};

static PI_Controller PI_Ctrl_IQ = {
	.kp = S32Q14(0.001f),
	.ki = S32Q14(0.003f),
	.max = S32Q14(MAX_iDQ),
	.min = S32Q14(-MAX_iDQ),
	.Ui = 0,
};

static PI_Controller PI_Ctrl_Spd = {
	.kp = S32Q14(0.001f),
	.ki = S32Q14(0.003f),
	.max = S32Q14(MAX_SPEED),
	.min = S32Q14(0),
	.Ui = 0,
};

static PI_Controller PI_Ctrl_fw = {
	.kp = S32Q14(0.001f),
	.ki = S32Q14(0.003f),
	.max = S32Q14(20),
	.min = S32Q14(0),
	.Ui = 0,
};