Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 164:cf373c5bcffc
- Parent:
- 161:19eac809c727
--- a/main.cpp Sat Jul 01 22:33:29 2017 +0000 +++ b/main.cpp Sun Sep 03 22:12:59 2017 +0000 @@ -62,7 +62,7 @@ loop_counter++; /*update position, sin, cos*/ - foc.p = io.pos->GetElecPosition() - POS_OFFSET; + foc.p = io.pos->GetElecPosition();// - POS_OFFSET; float sin_p = sinf(foc.p); float cos_p = cosf(foc.p); @@ -100,7 +100,7 @@ foc.vd = 0.0f; foc.vq = 0.0f; } - + float pv = foc.p + read.w / V_PHASE_SWIZZLE; float sin_pv = sinf(pv); float cos_pv = cosf(pv); @@ -161,8 +161,6 @@ void log() { io.pc->printf("%d,%d,%d,%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_ref, (int) control.d_filtered, (int) control.q_ref, (int) control.q_filtered, (int) (255 * control.torque_percent), (int) (255 * foc.vd), (int) (255 * foc.vq)); - //io.pc->printf("%c,%c\n", (int) (control.d_filtered / 2.0f), (int) (control.q_filtered / 2.0f)); - //io.pc->printf("%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_filtered, (int) control.q_filtered, (int) (255 * foc.vd), (int) (255 * foc.vq)); wait(1.0f / LOG_FREQUENCY); }