Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 88:703780322d5b
- Parent:
- 76:c66014e50384
- Child:
- 89:9e00a3c0c7ad
diff -r 4f8d87862651 -r 703780322d5b main.cpp --- a/main.cpp Wed Mar 01 00:48:59 2017 +0000 +++ b/main.cpp Tue Mar 28 05:46:18 2017 +0000 @@ -84,7 +84,8 @@ control.d_integral += d_err * KI_D; control.q_integral += q_err * KI_Q; - constrain_norm(&control.d_integral, &control.q_integral, 0.5f, 1.0f, 1.0f); + //constrain_norm(&control.d_integral, &control.q_integral, 0.5f, 1.0f, 1.0f); + constrain_norm(&control.d_integral, &control.q_integral, 1.0f, 1.0f, 1.0f); foc.vd = KP_D * d_err + control.d_integral;// - Lq * POLE_PAIRS * read.w * foc.q / BUS_VOLTAGE / 2.0f; foc.vq = KP_Q * q_err + control.q_integral;// + Ld * POLE_PAIRS * read.w * foc.d / BUS_VOLTAGE / 2.0f;