Diff: Joint_Calibration/joint_calibration.cpp

Revision:

54:4c9415402628

Parent:

49:7eac11914980

--- a/Joint_Calibration/joint_calibration.cpp	Tue Sep 15 08:59:03 2020 +0000
+++ b/Joint_Calibration/joint_calibration.cpp	Thu Sep 17 07:49:27 2020 +0000
@@ -37,7 +37,7 @@
         
     ///Set voltage angle to zero, wait for rotor position to settle
     abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w);                                 // inverse dq0 transform on voltages
-    svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w);                            // space vector modulation
+    svm(1.0, v_u, v_v, v_w, 0, &dtc_u, &dtc_v, &dtc_w);                            //space vector modulation
     for(int i = 0; i<40000; i++){
         TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u);                                        // Set duty cycles
         if(PHASE_ORDER){                                   
@@ -81,7 +81,7 @@
        for(int j = 0; j<n2; j++){   
         theta_ref += delta;
        abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w);                              // inverse dq0 transform on voltages
-       svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w);                         // space vector modulation
+       svm(1.0, v_u, v_v, v_w, 0, &dtc_u, &dtc_v, &dtc_w);                            //space vector modulation
         TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u);
         if(PHASE_ORDER){                                                        // Check phase ordering
             TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v);                                    // Set duty cycles
@@ -109,7 +109,7 @@
        for(int j = 0; j<n2; j++){
        theta_ref -= delta;
        abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w);                              // inverse dq0 transform on voltages
-       svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w);                         // space vector modulation
+       svm(1.0, v_u, v_v, v_w, 0, &dtc_u, &dtc_v, &dtc_w);                            //space vector modulation
         TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u);
         if(PHASE_ORDER){
             TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v);