Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: main.cpp

Revision:
228:8a14f1da2121
Parent:
223:b986e7cee521
Child:
229:90c6892f4d3b
--- a/main.cpp	Sat Nov 10 05:50:45 2018 +0000
+++ b/main.cpp	Sat Nov 10 06:17:53 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.ia_supp_offset) / I_SCALE;
-    foc.ib = ((float) read.adval2 / 4096.0f * AVDD - I_OFFSET - read.ib_supp_offset) / I_SCALE;
+    foc.ib = ((float) read.adval1 / 4096.0f * AVDD - I_OFFSET - read.ia_supp_offset) / I_SCALE;
+    foc.ia = ((float) read.adval2 / 4096.0f * AVDD - I_OFFSET - read.ib_supp_offset) / I_SCALE;
     
     /*compute d, q*/
     clarke(foc.ia, foc.ib, &foc.alpha, &foc.beta);