Diff: CURRENT_CONTROL.cpp

Revision:

14:67fc256efeb7

Parent:

13:b5f85f926f22

Child:

15:d9ccd6c92a21

--- a/CURRENT_CONTROL.cpp	Sat Dec 24 09:55:00 2016 +0000
+++ b/CURRENT_CONTROL.cpp	Mon Dec 26 07:52:43 2016 +0000
@@ -75,6 +75,7 @@
     delta_output = 0.0;
     curFeedBack = 0.0;
     curFeedBack_filter = 0.0;
+    curCommand = 0.0;
     voltage_out = 0.0;
 
     // Set PID's parameters
@@ -98,6 +99,8 @@
 {
     analog2Cur = Analog2Cur_in;//LTS25-NP current sensor working with STM32F446RE : 3.3*8/0.6
     Ke = angSpeed2BackEmf;
+    Kt = Ke;
+    Kt_inv = 1/Kt;
     voltage2Duty = voltage2Duty_in;
 }
 void CURRENT_CONTROL::SetReversal(bool reverse_current_in, bool reverse_rotationalSpeed_in, bool reverse_voltage_in)
@@ -208,8 +211,12 @@
 
 // Control
 ///////////////////////////////////////////////////////////
+void CURRENT_CONTROL::TorqueControl(float TorqueRef, bool enable){
+    Control(Kt_inv*TorqueRef, enable);
+}
 void CURRENT_CONTROL::Control(float curRef, bool enable)
 {
+    curCommand = curRef;
     // Init check
     OffsetInit();
     if (!Flag_Init) return;