Bayley Wang
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priustroller_3
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referencesynthesizers.cpp
00001 #include "includes.h" 00002 #include "meta.h" 00003 #include "sensors.h" 00004 #include "lut.h" 00005 #include "core.h" 00006 00007 void SynchronousReferenceSynthesizer::GetReference(float angle, float throttle, float *ref_d, float *ref_q) { 00008 *ref_d = 0.00f; 00009 *ref_q = _max_phase_current * throttle; 00010 } 00011 00012 float ReferenceSynthesizer::LutSin(float theta) { 00013 if (theta < 0.0f) theta += 360.0f; 00014 if (theta >= 360.0f) theta -= 360.0f; 00015 return sinetab[(int) theta] * 2.0f - 1.0f; 00016 } 00017 00018 float ReferenceSynthesizer::LutCos(float theta) { 00019 return LutSin(90.0f - theta); 00020 }
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