Diff: Calibration/calibration.cpp

Revision:

45:aadebe074af6

Parent:

44:efcde0af8390

Child:

49:9d762c5d05c3

--- 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();