Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 49:da8604278d76
- Parent:
- 48:a1a09c83d42c
- Child:
- 50:f508c7860342
--- a/main.cpp Fri Jan 13 08:07:34 2017 +0000 +++ b/main.cpp Mon Jan 16 18:50:48 2017 +0000 @@ -65,7 +65,7 @@ float sin_p = sinf(foc.p); float cos_p = cosf(foc.p); - /*scale and offset currents (adval1, 2 are updated in ISR*/ + /*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;