Diff: FOC/foc.cpp

Revision:

70:2ea6c555a2cb

Parent:

69:ba1c89835a54

--- a/FOC/foc.cpp	Wed Feb 10 21:29:13 2021 +0000
+++ b/FOC/foc.cpp	Thu Apr 01 18:23:53 2021 +0000
@@ -263,11 +263,13 @@
     
     
 void torque_control(ControllerStruct *controller){
-    float windup = 34.0;
-    controller->velocity_sum += controller->kd/100*(controller->v_des - controller->dtheta_mech);
-    controller->velocity_sum = fmaxf(fminf(controller->velocity_sum, windup), -windup);
-    //float torque_ref = controller->kp*(controller->p_des - controller->theta_mech) + controller->t_ff + controller->kd*(controller->v_des - controller->dtheta_mech);
-    float torque_ref = controller->kp*(controller->v_des - controller->dtheta_mech) + controller->velocity_sum + controller->t_ff;
+    //SPEED CONTROLLER FOR DYNO
+    //float windup = 50.0;
+    //controller->velocity_sum += controller->kd/100*(controller->v_des - controller->dtheta_mech);
+    //controller->velocity_sum = fmaxf(fminf(controller->velocity_sum, windup), -windup);
+    //float torque_ref = controller->kp*(controller->v_des - controller->dtheta_mech) + controller->velocity_sum + controller->t_ff;
+
+    float torque_ref = controller->kp*(controller->p_des - controller->theta_mech) + controller->t_ff + controller->kd*(controller->v_des - controller->dtheta_mech);
     //float torque_ref = -.1*(controller->p_des - controller->theta_mech);
     controller->i_q_ref = torque_ref/KT_OUT;    
     controller->i_d_ref = 0.0f;