Diff: main.cpp

Revision:

1:333d2cdd26d0

Parent:

0:faa58403944a

Child:

2:f23351f7af0b

--- a/main.cpp	Sun Feb 17 02:58:08 2019 +0000
+++ b/main.cpp	Sat Nov 14 02:43:13 2020 +0000
@@ -15,7 +15,7 @@
 
 
 int main(){
-    // pc.baud(128000); 
+     pc.baud(128000); 
     /* RtosTimer RtosTimerTS1(timerTS1);
      RtosTimerTS1.start((unsigned int)(TS1*5000));//2000
      Thread::wait(100);//1000*/
@@ -45,17 +45,17 @@
     Vr_adc=V_adc.read(); 
     y=Vr_adc- Vr_adc_i;
     ay=fabs(y);
-    power=ay;
-    if(y>0.1){
+    power=ay*2.0;
+    if(y>0.05){
         frd=0;
         //aout=0.5;
         }
-    if(y<-0.1){
+    if(y<-0.05){
         frd=1;
         //aout=0.9;
         }
         
-    if(ay<0.1){
+    if(ay<0.05){
         q=0;
         aout=0.0;
         //SH=HALL_U<<2|HALL_V<<1|HALL_W;
@@ -116,22 +116,22 @@
       }   
     }
     
- if(Speed<1000){//2000
+ if(Speed<500){//2000
  /**************矩形波駆動始動***************/
  /*******Forward******************/
  if(frd==0){
         switch(SH){
-            case 5: PWM_W();//W
+            case 5: PWM_W();//W5
             break;
-            case 4:  EN_W();//W
+            case 4:  EN_W();//W4
             break;
-            case 6: PWM_U();//U
+            case 6: PWM_U();//U6
             break;
-            case 2:  EN_U();//U
+            case 2:  EN_U();//U2
             break;
-            case 3: PWM_V();//V
+            case 3: PWM_V();//V3
             break;
-            case 1:  EN_V();//V
+            case 1:  EN_V();//V1
             break;
             default :PWM_W();//W
             break;             
@@ -171,7 +171,7 @@
        
  }//Speed<2000
  
- if((Speed>=1000)){//&&(Speed<4000)){//2000
+ if((Speed>=500)){//&&(Speed<4000)){//2000
 /************sin drive Forward************/
 if(frd==1){
         HALL_Ui.rise(&PWM_sinU);
@@ -214,11 +214,24 @@
            if(wz[2]>=16383){
                 wz[2]=16383;
                 }
+        #if 1
          PWM_IN1_U.write(((float(uz[2])/(16383*2))*(power*STOP))+0.5); 
          PWM_IN2_V.write(((float(vz[2])/(16383*2))*(power*STOP))+0.5);
          PWM_IN3_W.write(((float(wz[2])/(16383*2))*(power*STOP))+0.5); 
          
-         aout=(float(uz[2])/(16383*2))*(power*STOP)+0.5;//16383
+         aout=(float(wz[2])/(16383*2))*(power*STOP)+0.5;//16383
+        #endif
+         #if 0
+        su=(((float(uz[2])/(16383*2))*(power*STOP))+0.5);
+        sv=(((float(vz[2])/(16383*2))*(power*STOP))+0.5);
+        sw=(((float(wz[2])/(16383*2))*(power*STOP))+0.5);
+      
+         PWM_IN1_U.write(su); 
+         PWM_IN2_V.write(sv);
+         PWM_IN3_W.write(sw); 
+          aout=su;
+          //aout=(float(wz[2])/(16383*2))*(power*STOP)+0.5;//16383
+        #endif 
          //filterCurrent();
          //aout=Curr_wf;
         //HALL_Ui.rise(&cosU);
@@ -298,9 +311,12 @@
          vsi=2*(vt2-vt1); 
          wsi=2*(wt2-wt1);     
          usic=2*(ut2c-ut1c); 
-         Speed=60*(1/(6.0*fabs(usi)*1E-6));//CQ 6
+         //Speed=60*(1/(7.0*(usi*0.5)*1E-6));//BullRun
  /************************************************************/        
- 
+         Speed=60*(1/(7.0*usi*1E-6));
+       //pc.printf("%.3f , %.3f \r" ,Speed ,Vr_adc);
+        // UP=HALL_Ui;VP=HALL_Vi;WP=HALL_Wi;
+        // pc.printf("%d , %d , %d \r" , UP,VP,WP);
  
    }  
 }
\ No newline at end of file