Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: main.cpp

Revision:
32:b31423041c4e
Parent:
31:ebe42589ab9d
Child:
34:454a4256c4fe
--- a/main.cpp	Thu Nov 10 14:43:25 2016 +0000
+++ b/main.cpp	Sat Nov 12 05:26:15 2016 +0000
@@ -23,7 +23,8 @@
 
 Serial pc(USBTX, USBRX);
 
-int adval1, adval2;
+int adval1, adval2, adval3;
+float vbus = BUS_VOLTAGE;
 float ia, ib, ic, alpha, beta, d, q, vd, vq, p;
 float p_mech, last_p_mech, w = 0.0f;
 float d_filtered = 0.0f, q_filtered = 0.0f;
@@ -97,7 +98,7 @@
     if (*q > IPHASE_INVERTER_LIMIT) *q = IPHASE_INVERTER_LIMIT;
     /*
     torque = fabsf(torque);
-    get_ipm_dq(torque, d, q);
+    get_mtpa_dq(torque, d, q);
     if (torque < 0.0f) {
         *d = -*d;
         *q = -*q;