modified 0511
Dependencies: mbed-dev FastPWM3
Diff: FOC/foc.cpp
- Revision:
- 65:cb3497b549e9
- Parent:
- 60:f009e39e913e
diff -r fd695fb9865b -r cb3497b549e9 FOC/foc.cpp --- 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 -----*/