Team Fox
/
TFR_BAE_vr1_1working_finally_PWM_CTRLALGO_update
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Dependencies: FreescaleIAP mbed-rtos mbed
Fork of
TFR_BAE_vr1_1working_finally_PWM_update
by 
Team Fox
Revision 13:75aa0104f5e6, committed 2016-04-02
- Comitter:
- Bragadeesh153
- Date:
- Sat Apr 02 14:27:09 2016 +0000
- Parent:
- 12:f82fbe93fab3
- Commit message:
- sensor units updated
Changed in this revision
| ACS.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r f82fbe93fab3 -r 75aa0104f5e6 ACS.cpp
--- a/ACS.cpp Fri Apr 01 18:58:43 2016 +0000
+++ b/ACS.cpp Sat Apr 02 14:27:09 2016 +0000
@@ -60,7 +60,16 @@
void FCTN_ACS_CNTRLALGO(float b[3],float omega[3])
{
- controller (moment, b, omega, b_old, alarmmode, flag_firsttime, controlmode);
+ float b1[3];
+ float omega1[3];
+ b1[0] = b[0]/1000000.0;
+ b1[1] = b[1]/1000000.0;
+ b1[2] = b[2]/1000000.0;
+
+ omega1[0] = omega[0]*3.14159/180;
+ omega1[1] = omega[1]*3.14159/180;
+ omega1[2] = omega[2]*3.14159/180;
+ controller (moment, b1, omega1, b_old, alarmmode, flag_firsttime, controlmode);
}
void controller (float moment[3], float b1[3], float omega1[3], float b_old[3], int &alarmmode, int &flag_firsttime, int &controlmode)