Ben Katz
/
Hobbyking_Cheetah_V1
FOC Implementation for putting multirotor motors in robots
Diff: SVM/SVM.cpp
- Revision:
- 5:51c6560bf624
- Parent:
- 0:4e1c4df6aabd
- Child:
- 6:4ee1cdc43aa8
--- a/SVM/SVM.cpp Sat Mar 12 08:04:51 2016 +0000 +++ b/SVM/SVM.cpp Sat Mar 12 18:45:22 2016 +0000 @@ -7,10 +7,11 @@ _inverter = inverter; _V_Bus = V_Bus; } -void SPWM::Update_DTC(float V_Alpha, float V_Beta){ - float DTC_A = V_Alpha/_V_Bus + .5f; - float DTC_B = 0.5f*(-V_Alpha + 1.73205080757f*V_Beta)/_V_Bus + .5f; - float DTC_C = 0.5f*(-V_Alpha - 1.73205080757f*V_Beta)/_V_Bus + .5f; + +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; + float DTC_C = V_C/_V_Bus + .5f; if(DTC_A > .95f) DTC_A = .95f; else if(DTC_A < .05f) DTC_A = .05f; @@ -19,4 +20,24 @@ if(DTC_C > .95f) DTC_C = .95f; else if(DTC_C < .05f) DTC_C = .05f; _inverter->SetDTC(DTC_A, DTC_B, DTC_C); - } \ No newline at end of file + } + +SVPWM::SVPWM(Inverter *inverter, float V_Bus){ + _inverter = inverter; + _V_Bus = V_Bus; + } + +void SVPWM::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; + float DTC_C = V_C/_V_Bus + .5f; + + if(DTC_A > .95f) DTC_A = .95f; + else if(DTC_A < .05f) DTC_A = .05f; + if(DTC_B > .95f) DTC_B = .95f; + else if(DTC_B < .05f) DTC_B = .05f; + if(DTC_C > .95f) DTC_C = .95f; + else if(DTC_C < .05f) DTC_C = .05f; + _inverter->SetDTC(DTC_A, DTC_B, DTC_C); + } + \ No newline at end of file