Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 50:f508c7860342
- Parent:
- 49:da8604278d76
- Child:
- 51:8b817927d6e4
--- a/main.cpp Mon Jan 16 18:50:48 2017 +0000 +++ b/main.cpp Sun Jan 22 04:19:10 2017 +0000 @@ -86,8 +86,8 @@ control.q_integral = constrain(control.q_integral, -INTEGRAL_MAX, INTEGRAL_MAX); control.d_integral = constrain(control.d_integral, -INTEGRAL_MAX, INTEGRAL_MAX); - foc.vd = KP * d_err + control.d_integral;// - Lq * POLE_PAIRS * w * q / BUS_VOLTAGE; - foc.vq = KP * q_err + control.q_integral;// + Ld * POLE_PAIRS * w * d / BUS_VOLTAGE; + foc.vd = KP * d_err + control.d_integral;// - Lq * POLE_PAIRS * read.w * foc.q / BUS_VOLTAGE / 2.0f; + foc.vq = KP * q_err + control.q_integral;// + Ld * POLE_PAIRS * read.w * foc.d / BUS_VOLTAGE / 2.0f; foc.vd = constrain(foc.vd, -1.0f, 1.0f); foc.vq = constrain(foc.vq, -1.0f, 1.0f); @@ -151,10 +151,12 @@ } int main() { - dq = new LutMapper();//LinearNoFWMapper(KT, TORQUE_MAX, FLUX_LINKAGE); + dq = new LutMapper();// LinearNoFWMapper(KT, TORQUE_MAX, FLUX_LINKAGE); th = new NullThrottleMapper(); BREMSInit(&io, &read, &foc, &control, false); for (;;) { + io.pc->printf("%f\n\r", read.w); + wait(0.2); } } \ No newline at end of file