Tony Stark / BLDC_V2_JYB

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Dependencies:   mbed-dev-f303 FastPWM3

Files at this revision

API Documentation at this revision

Revision 40:cd7e837b2b93, committed 2018-05-24

Comitter:
benkatz
Date:
Thu May 24 15:02:32 2018 +0000
Parent:
39:3580a907ef93
Child:
41:304ac2affb23
Commit message:
joao flywheel version;

Changed in this revision

Config/motor_config.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/Config/motor_config.h	Mon May 14 21:01:06 2018 +0000
+++ b/Config/motor_config.h	Thu May 24 15:02:32 2018 +0000
@@ -5,8 +5,8 @@
 #define L_D 0.00003f            //Henries
 #define L_Q 0.00003f            //Henries
 #define KT .075f                 //N-m per peak phase amp, = WB*NPP*3/2
-#define NPP 21                  //Number of pole pairs
-#define GR 6.0f                 //Gear ratio
+#define NPP 7                  //Number of pole pairs
+#define GR 1.0f                 //Gear ratio
 #define KT_OUT 0.45f            //KT*GR
 #define WB 0.0024f               //Webers.  
 

--- a/main.cpp	Mon May 14 21:01:06 2018 +0000
+++ b/main.cpp	Thu May 24 15:02:32 2018 +0000
@@ -61,8 +61,8 @@
 
  #define P_MIN -12.5f
  #define P_MAX 12.5f
- #define V_MIN -45.0f
- #define V_MAX 45.0f
+ #define V_MIN -650.0f
+ #define V_MAX 650.0f
  #define KP_MIN 0.0f
  #define KP_MAX 500.0f
  #define KD_MIN 0.0f
@@ -259,7 +259,7 @@
                     }
                     */  
 
-                torque_control(&controller);     
+                torque_control(&controller);    
                 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
                     controller.i_d_ref = 0;
                     controller.i_q_ref = 0;
@@ -272,7 +272,8 @@
                 
                 /*
                 count++;
-                if(count == 40000){
+                if(count == 4000){
+                     printf("%.4f\n\r", controller.dtheta_mech);
                      count = 0;
                      }
                      */