Martin Gurtner / HKC_MiniCheetah

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Diff: FOC/foc.cpp

Revision:
53:e85efce8c1eb
Parent:
51:6cd89bd6fcaa
Child:
55:c4c9fec8539c
--- a/FOC/foc.cpp	Wed Jul 17 03:40:12 2019 +0000
+++ b/FOC/foc.cpp	Thu Aug 08 17:19:39 2019 +0000
@@ -194,12 +194,12 @@
        controller->v_ref = sqrt(controller->v_d*controller->v_d + controller->v_q*controller->v_q);
        
        limit_norm(&controller->v_d, &controller->v_q, OVERMODULATION*controller->v_bus);       // Normalize voltage vector to lie within curcle of radius v_bus
-       float dtc_d = controller->v_d/controller->v_bus;
-       float dtc_q = controller->v_q/controller->v_bus;
-       linearize_dtc(&dtc_d);
-       linearize_dtc(&dtc_q);
-       controller->v_d = dtc_d*controller->v_bus;
-       controller->v_q = dtc_q*controller->v_bus;
+       //float dtc_d = controller->v_d/controller->v_bus;
+       //float dtc_q = controller->v_q/controller->v_bus;
+       //linearize_dtc(&dtc_d);
+       //linearize_dtc(&dtc_q);
+       //controller->v_d = dtc_d*controller->v_bus;
+       //controller->v_q = dtc_q*controller->v_bus;
        abc(controller->theta_elec + 0.0f*DT*controller->dtheta_elec, controller->v_d, controller->v_q, &controller->v_u, &controller->v_v, &controller->v_w); //inverse dq0 transform on voltages
        svm(controller->v_bus, controller->v_u, controller->v_v, controller->v_w, &controller->dtc_u, &controller->dtc_v, &controller->dtc_w); //space vector modulation