1
Dependencies: mbed-dev-f303 FastPWM3
Diff: Calibration/calibration.cpp
- Revision:
- 45:aadebe074af6
- Parent:
- 44:efcde0af8390
- Child:
- 48:1b51771c3647
diff -r efcde0af8390 -r aadebe074af6 Calibration/calibration.cpp --- a/Calibration/calibration.cpp Sat Jul 14 22:03:52 2018 +0000 +++ b/Calibration/calibration.cpp Mon Jul 30 20:25:24 2018 +0000 @@ -32,7 +32,7 @@ wait_us(100); } //ps->ZeroPosition(); - ps->Sample(); + ps->Sample(DT); wait_us(1000); //float theta_start = ps->GetMechPositionFixed(); //get initial rotor position float theta_start; @@ -51,7 +51,7 @@ TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u); //Set duty cycles TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v); TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-dtc_w); - ps->Sample(); //sample position sensor + ps->Sample(DT); //sample position sensor theta_actual = ps->GetMechPositionFixed(); if(theta_ref==0){theta_start = theta_actual;} if(sample_counter > 200){ @@ -109,7 +109,7 @@ } wait_us(100); } - ps->Sample(); + ps->Sample(DT); controller->i_b = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset); //Calculate phase currents from ADC readings controller->i_c = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset); controller->i_a = -controller->i_b - controller->i_c; @@ -131,9 +131,9 @@ TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_w); } wait_us(100); - ps->Sample(); + ps->Sample(DT); } - ps->Sample(); + ps->Sample(DT); theta_actual = ps->GetMechPositionFixed(); error_f[i] = theta_ref/NPP - theta_actual; raw_f[i] = ps->GetRawPosition(); @@ -156,9 +156,9 @@ TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_w); } wait_us(100); - ps->Sample(); + ps->Sample(DT); } - ps->Sample(); // sample position sensor + ps->Sample(DT); // sample position sensor theta_actual = ps->GetMechPositionFixed(); // get mechanical position error_b[i] = theta_ref/NPP - theta_actual; raw_b[i] = ps->GetRawPosition();