Winnie Liu
/
Hobbyking_Cheetah_modify1105
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Dependencies: mbed-dev-f303 FastPWM3
Revision 19:bd10a04eedc2, committed 2017-02-14
- Comitter:
- benkatz
- Date:
- Tue Feb 14 03:28:16 2017 +0000
- Parent:
- 18:f1d56f4acb39
- Child:
- 20:bf9ea5125d52
- Commit message:
- commit b4 fork; reorganizing coming
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Sun Dec 11 04:19:15 2016 +0000
+++ b/main.cpp Tue Feb 14 03:28:16 2017 +0000
@@ -81,7 +81,7 @@
Serial pc(PA_2, PA_3);
Inverter inverter(PA_10, PA_9, PA_8, PA_11, 0.02014160156, 0.00005); //hall motor
-PositionSensorAM5147 spi(16384, 1.65f, 21); ///1 I really need an eeprom or something to store this....
+PositionSensorAM5147 spi(16384, 4.7, 21); ///1 I really need an eeprom or something to store this....
//PositionSensorSPI spi(2048, 1.34f, 7); ///2
@@ -133,9 +133,10 @@
int position = spi.GetRawPosition();
//float m = spi.GetMechPosition();
float e = spi.GetElecPosition();
- foc.Commutate();
- float q = foc.GetQ();
- printf("position: %d angle: %f q current: %f\n\r", position, e, q);
+ printf("%f\n\r", e);
+ //foc.Commutate();
+ //float q = foc.GetQ();
+ //printf("position: %d angle: %f q current: %f\n\r", position, e, q);
//inverter.getCurrent()
//printf("%f %f %f %f \n\r", m, cmd_float[0], cmd_float[1], cmd_float[2]);
//printf("%d %d %d\n\r", raw[0], raw[1], raw[2]);
@@ -158,7 +159,7 @@
inverter.DisableInverter();
spi.ZeroPosition();
wait(.1);
- inverter.SetDTC(0.03, 0.0, 0.0);
+ inverter.SetDTC(0.0, 0.0, 0.0);
inverter.EnableInverter();
foc.Reset();
testing.attach(&Loop, .000025);