Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: main.cpp

Revision:
158:882f9c208378
Parent:
157:a9b2002994d5
Child:
160:6948bb7bcabd
--- a/main.cpp	Sun May 07 16:46:53 2017 +0000
+++ b/main.cpp	Sun May 07 17:36:33 2017 +0000
@@ -89,12 +89,12 @@
     foc.vd_decouple = -Lq * POLE_PAIRS * read.w * foc.q / BUS_VOLTAGE / 2.0f;
     foc.vq_decouple = Ld * POLE_PAIRS * read.w * foc.d / BUS_VOLTAGE / 2.0f;
     
-    constrain_norm(&foc.vd_decouple, &foc.vq_decouple, 1.0f, 1.0f, 1.0f + OVERMODULATION_FACTOR);
+    constrain_norm(&foc.vd_decouple, &foc.vq_decouple, 1.0f, 1.0f, 1.0f);
     
     foc.vd = KP_D * d_err + control.d_integral;// + foc.vd_decouple;
     foc.vq = KP_Q * q_err + control.q_integral;// + foc.vq_decouple;
     
-    constrain_norm(&foc.vd, &foc.vq, 1.0f, 1.0f, 1.5f);//1.0f);
+    constrain_norm(&foc.vd, &foc.vq, 1.0f, 1.0f, 1.0f + OVERMODULATION_FACTOR);
     
     if (!control_enabled) {
         foc.vd = 0.0f;