Diff: main.cpp

Revision:

1:e45063ee4be0

Parent:

0:dcfc6150c1d6

--- a/main.cpp	Fri Aug 21 01:45:36 2020 +0000
+++ b/main.cpp	Wed Nov 18 06:24:19 2020 +0000
@@ -2,7 +2,7 @@
 #include "rtos.h"
 #define TS1 0.2
 #include <math.h>
-int q=0,START=20,i=0,s=0,vector;
+int q=0,START=10,i=0,s=0,vector;
 float uii=0,ut=0,ut1=0,ut2=0,usi=0;
 float vii=0,vt=0,vt1=0,vt2=0,vsi=0;
 float wii=0,wt=0,wt1=0,wt2=0,wsi=0;
@@ -209,7 +209,7 @@
 if((Vr_adc>0.08f)&&(q==0)){
       
  while(q<10){   
-  #if 0  
+  #if 1  
     mypwmA.write(0.5f);
     mypwmB.write(0);
     mypwmC.write(0);
@@ -225,7 +225,7 @@
     mypwmC.write(0.5f);
     wait_ms(START);
 #endif
-   #if 1  
+   #if 0 
       EN1=1; 
       EN2=1; 
       EN3=0;   
@@ -413,9 +413,9 @@
          EN1=1;
          EN2=1;
          EN3=1;
-         mypwmA.write(uvect); 
+         mypwmA.write(wvect); 
          mypwmB.write(vvect); 
-         mypwmC.write(wvect); 
+         mypwmC.write(uvect); 
        }
             
         myled = !myled;
@@ -564,7 +564,7 @@
         Xin=6500*(1.25-Vr_adc)-vst;  // 6500 1.15
         float a,b,c,work[2];
         float kp=1.1,ki=0.7,kd=0.0;  // 1.2  0.7  0.0
-        float dt=10.0E-6;//100E-6
+        float dt=100E-6;//100E-6
         a=Xin;
         b=work[1]+(Xin+work[0])/2.0*dt;
         c=(Xin-work[0])/dt;
@@ -573,7 +573,7 @@
         Xout=a*kp+b*ki+c*kd;
         vstt=Xout;
     /********************************/
-   if(2000>abs(vst-vstt)){  
+   if(3000>abs(vst-vstt)){  //2000
      vsti=vstt; //vstt
      vector=1;
      }