#include "foc/core/PI_Controller.h"

#define cf_iBand  (2.0f * PI * FOC_PWM_FS / 20.0f * 3.0f);
#define Ld 0.0009262f 
#define Lq 0.001024f
#define Rs 0.0918f

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

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

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