Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 14:59c4fcc1a4f7
- Parent:
- 13:41d102a53caf
- Child:
- 15:b583cd30b063
diff -r 41d102a53caf -r 59c4fcc1a4f7 main.cpp --- a/main.cpp Sun Oct 30 02:06:03 2016 +0000 +++ b/main.cpp Sun Oct 30 02:19:41 2016 +0000 @@ -25,7 +25,7 @@ float d_integral = 0.0f, q_integral = 0.0f; float last_d = 0.0f, last_q = 0.0f; -float d_ref = 0.0f, q_ref = 50.0f; +float d_ref = 0.0f, q_ref = 0.0f; void commutate(); @@ -182,7 +182,7 @@ float sin_p = sinf(p); float cos_p = cosf(p); - //float pos_dac = 0.85f * p / (2 * PI) + 0.05f; + //float pos_dac = 0.85f * p / (2 * PI) + 0.05f; //uncomment me to write position to the DAC //DAC->DHR12R2 = (unsigned int) (pos_dac * 4096); ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE; @@ -209,13 +209,10 @@ if (q_integral < -INTEGRAL_MAX) q_integral = -INTEGRAL_MAX; if (d_integral < -INTEGRAL_MAX) d_integral = -INTEGRAL_MAX; - if(control_enabled) - { + if(control_enabled) { vd = KP * d_err + d_integral; vq = KP * q_err + q_integral; - } - else - { + } else { vd = 0; vq = 0; } @@ -225,10 +222,10 @@ if (vq < -1.0f) vq = -1.0f; if (vq > 1.0f) vq = 1.0f; - DAC->DHR12R2 = (unsigned int) (-q * 20 + 2048); + DAC->DHR12R2 = (unsigned int) (-q * 20 + 2048); //uncomment me to write I_q to the DAC //DAC->DHR12R2 = (unsigned int) (-vd * 2000 + 2048); - //vd = 0.0f; + //vd = 0.0f; //uncomment me for voltage mode testing //vq = 1.0f; float valpha = vd * cos_p - vq * sin_p;