N K / Mbed 2 deprecated foc-ed_in_the_bot_compact

last working

Dependencies:   FastPWM3 mbed

Fork of foc-ed_in_the_bot_compact by Bayley Wang

Files at this revision

API Documentation at this revision

Revision 10:6829abb438fc, committed 2016-05-17

Comitter:
nki
Date:
Tue May 17 09:58:58 2016 +0000
Parent:
9:074575151e4b
Commit message:
Bayley tweaked- that night we took the altermoter apart;

Changed in this revision

config.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/config.h	Tue May 17 06:44:09 2016 +0000
+++ b/config.h	Tue May 17 09:58:58 2016 +0000
@@ -2,7 +2,7 @@
 #define __CONFIG_H
 
 #define CPR 4096
-#define POS_OFFSET 5.3f
+#define POS_OFFSET 1.73f
 #define POLE_PAIRS 3.0f
 #define RESOLVER_LOBES 3.0f
 

--- a/main.cpp	Tue May 17 06:44:09 2016 +0000
+++ b/main.cpp	Tue May 17 09:58:58 2016 +0000
@@ -150,15 +150,15 @@
     float sin_p = sinf(p);
     float cos_p = cosf(p);
     
-    //float pos_dac = 0.85f * p / (2 * PI) + 0.05f;
-    //DAC->DHR12R2 = (unsigned int) (pos_dac * 4096);
+    float pos_dac = 0.85f * p / (2 * PI) + 0.05f;
+    DAC->DHR12R2 = (unsigned int) (pos_dac * 4096);
     
     ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE;
     ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE;
     ic = -ia - ib;
     
-    float u = ib;
-    float v = ic;
+    float u = ia;
+    float v = ib;
     
     alpha = u;
     beta = 1 / sqrtf(3.0f) * u + 2 / sqrtf(3.0f) * v;
@@ -185,7 +185,7 @@
     if (vq < -1.0f) vq = -1.0f;
     if (vq > 1.0f) vq = 1.0f;
     
-    DAC->DHR12R2 = (unsigned int) (-q * 20 + 2048);
+    //DAC->DHR12R2 = (unsigned int) (-q * 20 + 2048);
     //DAC->DHR12R2 = (unsigned int) (-vd * 2000 + 2048);
     
     //vd = 0.0f;
@@ -208,5 +208,7 @@
     startup_msg();
     
     for (;;) {
+        //pc.printf("%f\r\n", p);
+        //wait_ms(100);
     }
 }