Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 126:498f56ba051e
- Parent:
- 124:e70ca81676fc
- Child:
- 130:639cd8586f86
--- a/main.cpp Sun Apr 30 03:48:32 2017 +0000 +++ b/main.cpp Sun Apr 30 03:53:01 2017 +0000 @@ -101,7 +101,7 @@ foc.vq = 0.0f; } - float pv = foc.p + read.w * 3.0f * VOLTAGE_CMD_DELAY * 1e-6; + float pv = foc.p + read.w / V_PHASE_SWIZZLE; float sin_pv = sinf(pv); float cos_pv = cosf(pv);