Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Diff: main.cpp
- Revision:
- 38:67e4e1453a4b
- Parent:
- 37:c0f352d6e8e3
- Child:
- 39:3580a907ef93
diff -r c0f352d6e8e3 -r 67e4e1453a4b main.cpp --- a/main.cpp Fri Apr 13 13:50:54 2018 +0000 +++ b/main.cpp Mon May 14 20:59:02 2018 +0000 @@ -10,7 +10,7 @@ #define SETUP_MODE 4 #define ENCODER_MODE 5 -#define VERSION_NUM "1.4" +#define VERSION_NUM "1.5" float __float_reg[64]; // Floats stored in flash @@ -247,6 +247,7 @@ if(state_change){ enter_torque_mode(); count = 0; + controller.t_ff = 15.0f; } else{ /* @@ -269,12 +270,13 @@ } commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop controller.timeout += 1; - /* + count++; - if(count == 1000){ + if(count == 40000){ + controller.t_ff = -controller.t_ff; count = 0; } - */ + } break;