Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

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Dependencies:   FastPWM3 mbed

Diff: Optimize/Optimize.cpp

Revision:
38:07cb4ae6c1bd
Parent:
37:ba7ebf4f8a78
Child:
39:80b38a8e1787
--- a/Optimize/Optimize.cpp	Sun Nov 27 11:36:54 2016 +0000
+++ b/Optimize/Optimize.cpp	Tue Nov 29 00:31:18 2016 +0000
@@ -2,6 +2,7 @@
 
 #include "config_motor.h"
 #include "Optimize.h"
+#include "MathHelpers.h"
 #include "optimize_constants.h"
 
 void get_mtpa_dq(float tau, float *d, float *q) {
@@ -29,7 +30,7 @@
 }
 
 void get_mtpa_is_dq(float is, float *d, float *q) {
-    *d = (-FLUX_LINKAGE + sqrtf(FLUX_LINKAGE * FLUX_LINKAGE + 8 * (Ld - Lq) * (Ld - Lq) * is * is)) / (4.f * (Ld - Lq));
+    *d = (-FLUX_LINKAGE + sqrtf(PSI2 + 8 * Lx * Lx * is * is)) / (4.f * Lx);
     *q = sqrtf(is * is - *d * *d);
 }
 
@@ -41,14 +42,4 @@
     else {
         return s0 + s1 * (tau - TAU0);
     }
-}
-
-float acbrt(float x0) {
-    union { int ix; float x; };
-
-    x = x0;                      // x can be viewed as int.
-    ix = 0x2a5137a0 + ix / 3;        // Initial guess.  
-    x = 0.33333333f*(2.0f*x + x0 / (x * x));  // Newton step.
-
-    return x;
 }
\ No newline at end of file