Winnie Liu / Hobbyking_Cheetah_0511

modified 0511

Dependencies:   mbed-dev FastPWM3

Diff: FOC/foc.cpp

Revision:
65:cb3497b549e9
Parent:
60:f009e39e913e
--- a/FOC/foc.cpp	Tue Mar 22 15:02:43 2022 +0000
+++ b/FOC/foc.cpp	Fri Aug 19 07:46:05 2022 +0000
@@ -234,10 +234,12 @@
     pos = controller->theta_mech;
     modf(pos/(2*PI),&round);
     pos = pos - round*2*PI;
-    if(abs(pos) <= 0.001)
-        pos = abs(pos);
-    else if(pos < 0)
+    if (pos < 0)
         pos = pos + 2*PI;
+//    if(abs(pos) <= 0.001)
+//        pos = abs(pos);
+//    else if(pos < 0)
+//        pos = pos + 2*PI;
     /*-----------------------------------------------*/
     
     /*----- position PID control -----*/