Diff: main.cpp

Revision:

29:50e6e4e46580

Parent:

28:ed9c1ca386fd

Child:

30:c25c5bf0d951

--- a/main.cpp	Mon Nov 07 10:56:01 2016 +0000
+++ b/main.cpp	Mon Nov 07 11:22:25 2016 +0000
@@ -10,6 +10,7 @@
 #include "config_loop.h"
 #include "config_pins.h"
 #include "config_inverter.h"
+#include "config_driving.h"
 
 FastPWM *a;
 FastPWM *b;
@@ -73,8 +74,8 @@
     if (dp_mech < -PI) dp_mech += 2 * PI;
     if (dp_mech >  PI) dp_mech -= 2 * PI;
     float w_raw = dp_mech * F_SW; //rad/s
-    if (w_raw > W_MAX) w_raw = w; //with this limiting scheme noise < 0
-    if (w_raw < -W_MAX) w_raw = w; //so we need to throw out the large deltas first
+    if (w_raw > W_LIMIT) w_raw = w; //with this limiting scheme noise < 0
+    if (w_raw < -W_LIMIT) w_raw = w; //so we need to throw out the large deltas first
     w = W_FILTER_STRENGTH * w + (1.0f - W_FILTER_STRENGTH) * w_raw;
 }
 
@@ -85,7 +86,9 @@
 //fill in d, q ref based on torque cmd and current velocity
 void get_dq(float torque, float w, float *d, float *q) {
     *d = 0.0f;
-    *q = torque / KT < Q_MAX ? torque / KT : Q_MAX;
+    *q = torque / KT;
+    if (*q > IPHASE_MOTOR_LIMIT) *q = IPHASE_MOTOR_LIMIT;
+    if (*q > IPHASE_INVERTER_LIMIT) *q = IPHASE_INVERTER_LIMIT;
 }
 
 void commutate() {