zebra
/
ZebraJointController
zebra joint controller firmware (originally from MIT HKC motor controller by benkatz)
Diff: FOC/foc.cpp
- Revision:
- 55:1c704b515383
- Parent:
- 53:e85efce8c1eb
--- a/FOC/foc.cpp Thu Aug 08 17:39:43 2019 +0000 +++ b/FOC/foc.cpp Fri Feb 05 10:49:02 2021 +0000 @@ -147,6 +147,8 @@ } controller->i_a = -controller->i_b - controller->i_c; + //printf("%f %f %f\r\n",controller->i_a, controller->i_b, controller->i_c); + float s = FastSin(theta); float c = FastCos(theta); dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q); //dq0 transform on currents @@ -155,7 +157,7 @@ controller->i_q_filt = 0.95f*controller->i_q_filt + 0.05f*controller->i_q; controller->i_d_filt = 0.95f*controller->i_d_filt + 0.05f*controller->i_d; - + //printf("%f, %f, %f, %f, %f\r\n",controller->i_a, controller->i_b, controller->i_c, controller->i_d_filt, controller->i_q_filt); // Filter the current references to the desired closed-loop bandwidth controller->i_d_ref_filt = (1.0f-controller->alpha)*controller->i_d_ref_filt + controller->alpha*controller->i_d_ref; @@ -224,5 +226,6 @@ //float torque_ref = -.1*(controller->p_des - controller->theta_mech); controller->i_q_ref = torque_ref/KT_OUT; controller->i_d_ref = 0.0f; + //printf("pos:%f vel:%f Kp:%f Kd:%f t_ff:%f\r\n",controller->p_des,controller->v_des,controller->kp,controller->kd,controller->t_ff); } \ No newline at end of file