Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 89:9e00a3c0c7ad
- Parent:
- 88:703780322d5b
- Child:
- 90:2ef53b1a22de
diff -r 703780322d5b -r 9e00a3c0c7ad main.cpp --- a/main.cpp Tue Mar 28 05:46:18 2017 +0000 +++ b/main.cpp Tue Mar 28 21:55:40 2017 +0000 @@ -84,7 +84,6 @@ 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, 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;