Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   FastPWM3 mbed

Diff: main.cpp

Revision:
202:1baff0df86d1
Parent:
201:5d1a3aa50fe0
Child:
203:cb2a3ea31dce
diff -r 5d1a3aa50fe0 -r 1baff0df86d1 main.cpp
--- a/main.cpp	Mon Feb 12 00:02:50 2018 +0000
+++ b/main.cpp	Mon Feb 12 01:13:52 2018 +0000
@@ -78,32 +78,15 @@
     
     constrain_norm(&foc.vd, &foc.vq, 1.0f, 1.0f, 1.0f + _OVERMODULATION_FACTOR);
     
-    /*
-    if (!control.enabled) {
-        foc.vd = 0.0f;
-        foc.vq = 0.0f;
-    }
-    */
-    
     float pv = foc.p + read.w / _V_PHASE_SWIZZLE;
     float sin_pv = sinf(pv);
     float cos_pv = cosf(pv);
     
     /*inverse transforms*/
     invpark(foc.vd, foc.vq, sin_pv, cos_pv, &foc.valpha, &foc.vbeta);
-    
+        
+    /*set outputs*/
     float va, vb, vc, voff;
-    
-    //invclarke(foc.valpha, foc.vbeta, &va, &vb);
-    //vc = -va - vb;
-    
-    /*SVPWM*/
-    //voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;//don't think about it
-    //va = va - voff;
-    //vb = vb - voff;
-    //vc = vc - voff;
-    
-    /*set outputs*/
     switch (BREMS_mode) {
     case MODE_CFG:
         va = 0.0f;
@@ -148,7 +131,6 @@
         go_disabled();
         break;
     }
-    
         
     /*log data*/
     if (_ENABLE_LOGGING) {
@@ -164,6 +146,7 @@
         }
     }
     
+    /*disable outputs if necessary*/
     if (!control.enabled) {
         va = 0.0f; vb = 0.0f; vc = 0.0f;
     }