l yy / Hobbyking_Cheetah_Compact_DRV8323

it works!

Dependencies:   mbed-dev-f303 FastPWM3

Diff: FOC/foc.cpp

Revision:
29:0dbc822dd29a
Parent:
28:8c7e29f719c5
Child:
30:db9081ac5658
Child:
31:61eb6ae28215
--- a/FOC/foc.cpp	Sun Jun 04 19:00:22 2017 +0000
+++ b/FOC/foc.cpp	Mon Jun 12 17:41:00 2017 +0000
@@ -115,7 +115,7 @@
        //controller->v_d = v_d_ff;
        //controller->v_q = v_q_ff; 
        
-       limit_norm(&controller->v_d, &controller->v_q, controller->v_bus);       // Normalize voltage vector to lie within curcle of radius v_bus
+       limit_norm(&controller->v_d, &controller->v_q, 1.2f*controller->v_bus);       // Normalize voltage vector to lie within curcle of radius v_bus
        //abc(controller->theta_elec, controller->v_d, controller->v_q, &controller->v_u, &controller->v_v, &controller->v_w); //inverse dq0 transform on voltages
     
         controller->v_u = c*controller->v_d - s*controller->v_q;                // Faster Inverse DQ0 transform