Diff: main.cpp

Revision:

253:0246366e0dcb

Parent:

252:179a8c8791dc

Child:

254:725d7435dfa3

--- a/main.cpp	Tue Feb 16 07:12:23 2021 +0000
+++ b/main.cpp	Fri Feb 19 11:23:51 2021 +0000
@@ -1333,7 +1333,7 @@
             float pres_A_new = (((float) ADC1->DR) - 2047.5f);
             double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
             pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
-            torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
+            torq.sen = pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
 
 
 //        float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
@@ -1463,7 +1463,7 @@
                         CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
                         CUR_TORQUE_sum = 0;
 
-                        TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
+                        TORQUE_VREF -= 0.000003f * (0.0f - CUR_TORQUE_mean);
 
                         if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
                         if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;