Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 32:b31423041c4e
- Parent:
- 31:ebe42589ab9d
- Child:
- 34:454a4256c4fe
diff -r ebe42589ab9d -r b31423041c4e main.cpp --- a/main.cpp Thu Nov 10 14:43:25 2016 +0000 +++ b/main.cpp Sat Nov 12 05:26:15 2016 +0000 @@ -23,7 +23,8 @@ Serial pc(USBTX, USBRX); -int adval1, adval2; +int adval1, adval2, adval3; +float vbus = BUS_VOLTAGE; float ia, ib, ic, alpha, beta, d, q, vd, vq, p; float p_mech, last_p_mech, w = 0.0f; float d_filtered = 0.0f, q_filtered = 0.0f; @@ -97,7 +98,7 @@ if (*q > IPHASE_INVERTER_LIMIT) *q = IPHASE_INVERTER_LIMIT; /* torque = fabsf(torque); - get_ipm_dq(torque, d, q); + get_mtpa_dq(torque, d, q); if (torque < 0.0f) { *d = -*d; *q = -*q;