Diff: main.cpp

Revision:

3:cb3ad5a26986

Parent:

2:0058dae8606d

--- a/main.cpp	Sat Jun 08 03:52:20 2019 +0000
+++ b/main.cpp	Wed Nov 18 06:44:05 2020 +0000
@@ -49,7 +49,7 @@
 Timer uT;
 Timer vT;
 Timer wT;
-//AnalogOut SWAVE(PA_4);
+AnalogOut SWAVE(PA_4);
 
 Serial pc(USBTX,USBRX);
 
@@ -158,9 +158,9 @@
       
  while(q<50){   
     
-    mypwmA.write(0.5f);
+    mypwmA.write(0.0);
     mypwmB.write(0);
-    mypwmC.write(0);
+    mypwmC.write(0.5f);
     wait_ms(START);
            
     mypwmA.write(0);
@@ -168,9 +168,9 @@
     mypwmC.write(0.0);
     wait_ms(START);
          
-    mypwmA.write(0);
+    mypwmA.write(0.5f);
     mypwmB.write(0.0);
-    mypwmC.write(0.5f);
+    mypwmC.write(0.0);
     wait_ms(START);
     q++;
     
@@ -268,7 +268,9 @@
                  z=0.8;   //0.8
                  }
                 // th=(Wz*et*1.9E-4)+iso;           //1.99E-4 
-                 th=(W*et*1.9E-4)+iso; //1.9E-4   
+                Vdlink=0.2;
+                z=0.4;
+                 th=(W*et*1.1E-4)+iso; //1.9E-4   
               // th=Wo*wi*1.85E-4;
           }
               
@@ -459,7 +461,7 @@
             }    
       
     /*****PID ω　*****/
-        Xin=5000*(1.05-Vr_adc)-vst;  // 5500
+        Xin=5500*(1.15-Vr_adc)-vst;  // 5500
         float a,b,c,work[2];
         float kp=2.0,ki=0.5,kd=0.0;  // 2.0 0.5
         float dt=10.0E-6;//10E-6
@@ -480,7 +482,7 @@
     vstt=vstt+(k1+2.0*k2+2.0*k3+k4)/6.0;*/
     vstt=Xout;
     /********************************/
-   if(2000>abs(vst-vstt)){  // ie 1000
+   if(3500>abs(vst-vstt)){  // ie 1000
         vsti=vstt;
      // vsti=vst;
      r=1;
@@ -603,7 +605,8 @@
        // SWAVE=sin(th);
       // SWAVE=vst/5000;
        //SWAVE=Vb;
-       // SWAVE=iuvw[0];
+       //SWAVE=iuvw[0];
+        SWAVE=du;
         Vector=r;
         i++;   
     }