Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: main.cpp

Revision:
27:7e073122ddf8
Parent:
26:955a1dfc2705
Child:
28:ed9c1ca386fd
--- a/main.cpp	Sun Nov 06 04:25:40 2016 +0000
+++ b/main.cpp	Sun Nov 06 04:27:40 2016 +0000
@@ -104,13 +104,9 @@
     
     ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE;
     ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE;
-    ic = -ia - ib;
     
-    float u = CURRENT_U;
-    float v = CURRENT_V;
-    
-    alpha = u;
-    beta = 1 / sqrtf(3.0f) * u + 2 / sqrtf(3.0f) * v;
+    alpha = ia;
+    beta = 1 / sqrtf(3.0f) * ia + 2 / sqrtf(3.0f) * ib;
     
     d = alpha * cos_p + beta * sin_p;
     q = -alpha * sin_p + beta * cos_p;