Test the set param mode
Diff: main.cpp
- Revision:
- 50:ba72df25d10f
- Parent:
- 49:83d83040ea51
- Child:
- 51:6cd89bd6fcaa
diff -r 83d83040ea51 -r ba72df25d10f main.cpp --- a/main.cpp Thu Apr 04 13:50:02 2019 +0000 +++ b/main.cpp Thu Apr 04 13:53:58 2019 +0000 @@ -10,7 +10,7 @@ #define SETUP_MODE 4 #define ENCODER_MODE 5 -#define VERSION_NUM "1.7" +#define VERSION_NUM "1.8" float __float_reg[64]; // Floats stored in flash @@ -134,7 +134,7 @@ reset_foc(&controller); // Tesets integrators, and other control loop parameters wait(.001); controller.i_d_ref = 0; - controller.i_q_ref = 40; // Current Setpoints + controller.i_q_ref = 0; // Current Setpoints gpio.led->write(1); // Turn on status LED state_change = 0; printf("\n\r Entering Motor Mode \n\r"); @@ -212,7 +212,6 @@ } */ - //torque_control(&controller); if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){ controller.i_d_ref = 0; controller.i_q_ref = 0; @@ -221,14 +220,7 @@ controller.t_ff = 0; } - //torque_control(&controller); - //controller.i_q_ref = 20.0f; - if(count > 40000) - { - count = 0; - controller.i_q_ref = -controller.i_q_ref; - } - + torque_control(&controller); commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop controller.timeout++; @@ -449,21 +441,14 @@ pc.attach(&serial_interrupt); // attach serial interrupt state_change = 1; - /* - for(int i = 0; i< 1000; i++){ - float dtc_in = .001f*(float)i; - printf("%f ", dtc_in); - linearize_dtc(&dtc_in); - printf("%f\n\r", dtc_in); - wait(.001); - } - */ + int counter = 0; while(1) { drv.print_faults(); - wait(.001); + wait(.1); //printf("%.4f\n\r", controller.v_bus); + /* if(state == MOTOR_MODE) { //printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance); @@ -471,6 +456,7 @@ //printf("%.3f\n\r", controller.dtheta_mech); wait(.002); } + */ } }