Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 230:7ac00598d366
- Parent:
- 229:90c6892f4d3b
- Child:
- 231:753ec371b153
--- a/main.cpp Sat Nov 10 06:27:07 2018 +0000 +++ b/main.cpp Sat Nov 10 06:33:07 2018 +0000 @@ -51,8 +51,8 @@ float cos_p = cosf(foc.p); /*scale and offset currents (adval1, 2 are updated in ISR)*/ - foc.ia = ((float) read.adval1 / 4096.0f * AVDD - I_OFFSET - read.ad1_supp_offset) / I_SCALE; - foc.ib = ((float) read.adval2 / 4096.0f * AVDD - I_OFFSET - read.ad2_supp_offset) / I_SCALE; + foc.ia = ((float) read.adval2 / 4096.0f * AVDD - I_OFFSET - read.ad2_supp_offset) / I_SCALE; + foc.ib = ((float) read.adval1 / 4096.0f * AVDD - I_OFFSET - read.ad1_supp_offset) / I_SCALE; /*compute d, q*/ clarke(foc.ia, foc.ib, &foc.alpha, &foc.beta);