Diff: FOC/foc.cpp

Revision:

52:8e74c22ed89f

Parent:

51:6cd89bd6fcaa

--- a/FOC/foc.cpp	Wed Jul 17 03:40:12 2019 +0000
+++ b/FOC/foc.cpp	Sun Jul 21 21:42:49 2019 +0000
@@ -65,18 +65,18 @@
 void zero_current(int *offset_1, int *offset_2){                                // Measure zero-offset of the current sensors
     int adc1_offset = 0;
     int adc2_offset = 0;
-    int n = 1024;
+    int n = 2048;
     for (int i = 0; i<n; i++){                                                  // Average n samples of the ADC
         TIM1->CCR3 = (PWM_ARR>>1)*(1.0f);                                               // Write duty cycles
         TIM1->CCR2 = (PWM_ARR>>1)*(1.0f);
         TIM1->CCR1 = (PWM_ARR>>1)*(1.0f);
         ADC1->CR2  |= 0x40000000;                                               // Begin sample and conversion
-        wait(.001);
+        wait(.0001);
         adc2_offset += ADC2->DR;
         adc1_offset += ADC1->DR;
         }
-    *offset_1 = adc1_offset/n;
-    *offset_2 = adc2_offset/n;
+    *offset_1 = (int)((float)adc1_offset/(float)n);
+    *offset_2 = (int)((float)adc2_offset/(float)n);
     }
     
 void init_controller_params(ControllerStruct *controller){
@@ -196,8 +196,8 @@
        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);
+       //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