Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 26:955a1dfc2705
- Parent:
- 25:3f2b585ae72d
- Child:
- 27:7e073122ddf8
diff -r 3f2b585ae72d -r 955a1dfc2705 main.cpp --- a/main.cpp Sat Nov 05 15:49:11 2016 +0000 +++ b/main.cpp Sun Nov 06 04:25:40 2016 +0000 @@ -85,7 +85,7 @@ //fill in d, q ref based on torque cmd and current velocity void get_dq(float torque, float w, float *d, float *q) { *d = 0.0f; - *q = Q_MAX;//torque / KT < Q_MAX ? torque / KT : Q_MAX; + *q = torque / KT < Q_MAX ? torque / KT : Q_MAX; } void commutate() {