Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

CurrentModel/CurrentModel.cpp@252:38644631ed97, 2018-11-13 (annotated)

Committer:
bwang
Date:
Tue Nov 13 17:46:23 2018 +0000
Revision:
252:38644631ed97
Parent:
220:ff69c230aa6d 
11/13/2018 12:45 - hitting <return> on empty line prints "\r>", so that hitting enter after intially connecting to the controller generates a prompt

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 220:ff69c230aa6d 1 #include "CurrentModel.h"
bwang 220:ff69c230aa6d 2
bwang 220:ff69c230aa6d 3 CurrentModel::CurrentModel(float Lr, float Rr, float fsw) {
bwang 220:ff69c230aa6d 4 _tauinv = Rr / Lr;
bwang 220:ff69c230aa6d 5 _tsw = 1.0f / fsw;
bwang 220:ff69c230aa6d 6
bwang 220:ff69c230aa6d 7 _im = 0.0f;
bwang 220:ff69c230aa6d 8 _theta = 0.0f;
bwang 220:ff69c230aa6d 9 }
bwang 220:ff69c230aa6d 10
bwang 220:ff69c230aa6d 11 float CurrentModel::getFluxPosition(float id, float iq, float w) {
bwang 220:ff69c230aa6d 12 _im = _im + _tsw * _tauinv * (id - _im);
bwang 220:ff69c230aa6d 13 float wf = w + _tauinv * iq / _im;
bwang 220:ff69c230aa6d 14 _theta = _theta + _tsw * wf;
bwang 220:ff69c230aa6d 15 return _theta;
bwang 220:ff69c230aa6d 16 }