akiyoshi oguro / Mbed 2 deprecated Nucleo_Hall_rect_sin

CCW CW Control BLDC

Dependencies:   mbed mbed-rtos

Diff: IO_define.h

Revision:
1:333d2cdd26d0
Parent:
0:faa58403944a
--- a/IO_define.h	Sun Feb 17 02:58:08 2019 +0000
+++ b/IO_define.h	Sat Nov 14 02:43:13 2020 +0000
@@ -33,11 +33,12 @@
 
 AnalogOut aout(PA_4);
 
+unsigned int UP,VP,WP;
 float Vr_adc,Vr_adc_i;
 
 unsigned short SH,frd=1,q;
 short f1=0,a1=0,f1c=0,a1c=0;
-float kido=0.5,START=10.0,STOP=1.0,power;
+float kido=0.5,START=5.0,STOP=1.0,power;//START=10.0
 float y,ay,Speed;
  
 float ut1=0,ut2=0,usi=0;
@@ -45,7 +46,7 @@
 float wt1=0,wt2=0,wsi=0; 
 float ut1c=0,ut2c=0,usic=0;
 
-float tau=50; //drone 50
+float tau=80; //drone 50
 float zint=tau*1E-6;
  
 Timer uT;
@@ -77,6 +78,7 @@
 float sinth,costh;
 float id_diff,id_p,iq_diff,iq_p;
 float s_ki_id, ki_id,kp_id, s_ki_iq ,ki_iq,kp_iq;
+float su,sv,sw;
 
 float Vd,Vq;
 float Wz,s_ki_errth,s_kp_errth,derrth;