l yy / Hobbyking_Cheetah_Compact_DRV8323

it works!

Dependencies:   mbed-dev-f303 FastPWM3

Diff: FOC/foc.cpp

Revision:
35:69b24894c11d
Parent:
34:51647c6c500d
Child:
37:c0f352d6e8e3
--- a/FOC/foc.cpp	Wed Nov 08 15:18:18 2017 +0000
+++ b/FOC/foc.cpp	Sat Nov 18 18:41:42 2017 +0000
@@ -97,7 +97,7 @@
        
        /// PI Controller ///
        float i_d_error = controller->i_d_ref - controller->i_d;
-       float i_q_error = controller->i_q_ref - controller->i_q + cogging_current - 2.0f;
+       float i_q_error = controller->i_q_ref - controller->i_q + cogging_current;
        float v_d_ff = 2.0f*(2*controller->i_d_ref*R_PHASE);   //feed-forward voltage
        float v_q_ff =  controller->dtheta_elec*WB*1.73205081f;
        controller->d_int += i_d_error;