WANG YUCHAO
/
Motor_DRV8323RH_for_20190
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Revision 50:7dfd3eb439e8, committed 2021-05-04
- Comitter:
- wyc136
- Date:
- Tue May 04 12:52:52 2021 +0000
- Parent:
- 49:10638a45c3ac
- Commit message:
- 123
Changed in this revision
--- a/Config/motor_config.h Sat Dec 05 06:55:55 2020 +0000 +++ b/Config/motor_config.h Tue May 04 12:52:52 2021 +0000 @@ -6,7 +6,7 @@ #define L_Q 0.00003f //Henries //#define KT .075f //N-m per peak phase amp, = WB*NPP*3/2 #define KT .08f -#define NPP 21 //Number of pole pairs +#define NPP 14 //Number of pole pairs //#define GR 1.0f #define GR 49.0f //Gear ratio //#define KT_OUT 0.45f //KT*GR
--- a/main.cpp Sat Dec 05 06:55:55 2020 +0000
+++ b/main.cpp Tue May 04 12:52:52 2021 +0000
@@ -49,7 +49,7 @@
PositionSensorAM5147 spi(16384, 0.0, NPP); //14 bits encoder, 21 NPP
-volatile int count = 0;
+//volatile int count = 0;
volatile int state = REST_MODE;
volatile int state_change;
@@ -187,7 +187,7 @@
case MOTOR_MODE: // Run torque control
if(state_change){
enter_torque_mode();
- count = 0;
+ // count = 0;
}
else{
/*
--- a/mbed-dev.lib Sat Dec 05 06:55:55 2020 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -https://os.mbed.com/users/benkatz/code/mbed-dev-f303/#36facd806e4a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue May 04 12:52:52 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file