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CCW CW Control BLDC
Diff: IO_define.h
- Revision:
- 1:333d2cdd26d0
- Parent:
- 0:faa58403944a
diff -r faa58403944a -r 333d2cdd26d0 IO_define.h --- 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;