123487
Dependencies: mbed-dev-f303 FastPWM3
Diff: main.cpp
- Revision:
- 56:9353ebcf19c6
- Parent:
- 54:d889fe62bc0c
- Child:
- 57:8200454194cf
diff -r 14ac00a5f43d -r 9353ebcf19c6 main.cpp --- a/main.cpp Tue Nov 19 08:54:35 2019 +0000 +++ b/main.cpp Thu Jan 02 16:15:46 2020 +0000 @@ -12,7 +12,7 @@ #define VERSION_NUM "1.9" - +int torque_count=0; //shaorui add float __float_reg[64]; // Floats stored in flash int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table @@ -232,7 +232,15 @@ controller.timeout++; count++; - + /***********shaorui add for torque_des**********/ + // torque_count++; + // if(torque_count>50000) + // { + // printf("the desired iq : %.3f\n\r",controller. i_q_ref); + // printf("the desired torque : %.3f\n\r",KT_OUT*controller. i_q_ref); + // torque_count=0; + // } + /***********shaorui endfor torque_des**********/ } break; case SETUP_MODE: @@ -473,7 +481,13 @@ //printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance); //printf("%.3f %.3f %.3f %.3f %.3f\n\r", controller.v_d, controller.v_q, controller.i_d_filt, controller.i_q_filt, controller.dtheta_elec); //printf("%.3f\n\r", controller.dtheta_mech); - wait(.002); + //wait(.002); + //printf(" True speed: %.3f\n\r", controller.dtheta_mech*60/(2*PI)); //shaorui ADD + //wait(2); + //printf("speed:%.3f\n\r", controller.dtheta_mech); + printf("position:%.3f\n\r", controller.theta_mech*360/(2*PI)); + //wait(.002); + wait(1); }