Bayley Wang
/
foc-ed_in_the_bot_compact
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Revision 205:5cfe6d7e08a3, committed 2018-02-12
- Comitter:
- bwang
- Date:
- Mon Feb 12 04:22:13 2018 +0000
- Parent:
- 204:74714d52a936
- Child:
- 206:5c848ea69028
- Commit message:
- 02/11/2018 21:21 - cmd_exit() checks that motor is not running
Changed in this revision
--- a/CHANGELOG.txt Mon Feb 12 04:12:07 2018 +0000 +++ b/CHANGELOG.txt Mon Feb 12 04:22:13 2018 +0000 @@ -45,4 +45,5 @@ 02/11/2018 02:54 - long commands can no longer be executed while control.enabled == true, invalid BREMS_src now sets control.user_cmd to 0 02/11/2018 03:16 - blocked switching modes when motor is running 02/11/2018 20:13 - scrambled the mode and error handling code in commutate() to be cleaner -02/11/2018 21:11 - further improvements to mode handling, output overrides and output disabling now live in their own functions \ No newline at end of file +02/11/2018 21:11 - further improvements to mode handling, output overrides and output disabling now live in their own functions +02/11/2018 21:21 - cmd_exit() checks that motor is not running \ No newline at end of file
--- a/CommandProcessor/cmd_mode.cpp Mon Feb 12 04:12:07 2018 +0000
+++ b/CommandProcessor/cmd_mode.cpp Mon Feb 12 04:22:13 2018 +0000
@@ -56,6 +56,10 @@
}
void cmd_exit(Serial *pc) {
+ if (control.user_cmd != 0.0f || control.torque_percent != 0.0f) {
+ pc->printf("%s\n", "Turn off motor first");
+ return;
+ }
BREMS_mode = MODE_RUN;
pc->printf("%s\n", "Run mode ON");
}
\ No newline at end of file
--- a/main.cpp Mon Feb 12 04:12:07 2018 +0000
+++ b/main.cpp Mon Feb 12 04:22:13 2018 +0000
@@ -96,7 +96,8 @@
va = va - voff;
vb = vb - voff;
vc = vc - voff;
-
+
+ /*some modes override the FOC outputs*/
switch (BREMS_mode) {
case MODE_CFG:
va = 0.0f;