Vnom= 240;
f_nom = 50;

Vdc= 340;

clock = 20000;  

f_triangular = clock/10;
fc_torquimetro = 5;
fc_corrientes = 1000;
fc_velocidad = 5;

CPR = 300;

cte_encoder = 2*pi/CPR;

time_step = 1/clock;

polos = 4;

cte_escala = round(sqrt(2) * Vnom / Vdc, 2);

cte_amplitud = 1/f_nom * cte_escala;
gain_corrientes = 50/4;
gain_torque = 10/5;

delay_velocidad = 100;

gain_velocidad = clock/delay_velocidad * 60/(2*pi);

nmax = 0.95 * clock/2 * 60 / CPR;
n_lim_direccion = .9 * nmax/4;