Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 35:89385f64c867
- Parent:
- 34:454a4256c4fe
- Child:
- 36:cac9785c91cb
--- a/main.cpp Wed Nov 23 02:38:15 2016 +0000 +++ b/main.cpp Wed Nov 23 02:40:31 2016 +0000 @@ -142,8 +142,8 @@ q_integral = constrain(q_integral, -INTEGRAL_MAX, INTEGRAL_MAX); d_integral = constrain(d_integral, -INTEGRAL_MAX, INTEGRAL_MAX); - vd = KP * d_err + d_integral;// - Lq * POLE_PAIRS * w * q / BUS_VOLTAGE * (float) (1e-6); - vq = KP * q_err + q_integral;// + Ld * POLE_PAIRS * w * d / BUS_VOLTAGE * (float) (1e-6); + vd = KP * d_err + d_integral;// - Lq * POLE_PAIRS * w * q / BUS_VOLTAGE; + vq = KP * q_err + q_integral;// + Ld * POLE_PAIRS * w * d / BUS_VOLTAGE; //vd = constrain(vd, -1.0f, 1.0f); //vq = constrain(vq, -1.0f, 1.0f);