Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

Diff: SVM/SVM.cpp

Revision:
10:370851e6e132
Parent:
6:4ee1cdc43aa8
--- a/SVM/SVM.cpp	Tue May 10 01:15:57 2016 +0000
+++ b/SVM/SVM.cpp	Thu May 12 05:02:52 2016 +0000
@@ -10,6 +10,7 @@
     _V_Bus = V_Bus;
     }
 
+//sinusoidal PWM
 void SPWM::Update_DTC(float V_A, float V_B, float V_C){
     float DTC_A = V_A/_V_Bus + .5f;
     float DTC_B = V_B/_V_Bus + .5f;
@@ -29,6 +30,7 @@
     _V_Bus = V_Bus;
     }
     
+//space vector pwm (better bus utilization)
 void SVPWM::Update_DTC(float V_A, float V_B, float V_C){
     
     float Voff = (min(V_A, V_B, V_C) + max(V_A, V_B, V_C))/2.0f;