Winnie Liu / Hobbyking_Cheetah_0511

modified 0511

Dependencies:   mbed-dev FastPWM3

Diff: FOC/foc.cpp

Revision:
60:f009e39e913e
Parent:
55:b97b90d06ffa
Child:
65:cb3497b549e9
--- a/FOC/foc.cpp	Tue Dec 14 13:12:16 2021 +0000
+++ b/FOC/foc.cpp	Tue Mar 01 12:29:08 2022 +0000
@@ -259,7 +259,9 @@
     in_err = in_err + err;
     */
     float torque_ref = controller->kp*(err) + controller->t_ff + controller->ki*(in_err) + controller->kd*(-controller->dtheta_mech);
-    /*--------------------------------*/        
+    /*--------------------------------*/
+    
+    //float torque_ref = controller->kp*(controller->p_des - controller->theta_mech) + controller->t_ff + controller->kd*(-controller->dtheta_mech);        
     
     controller->i_q_ref = torque_ref/KT_OUT;    
     controller->i_d_ref = 0.0f;