Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: main.cpp

Revision:
115:6c1bce07768d
Parent:
114:095a77fcf53b
Child:
118:2b6dab10b69d
--- a/main.cpp	Sun Apr 23 02:15:36 2017 +0000
+++ b/main.cpp	Sun Apr 23 03:02:10 2017 +0000
@@ -85,10 +85,10 @@
     control.d_integral += d_err * KI_D;
     control.q_integral += q_err * KI_Q;
     
-    constrain_norm(&control.d_integral, &control.q_integral, 0.5f, 1.0f, 1.0f);
+    constrain_norm(&control.d_integral, &control.q_integral, 1.0f, 1.0f, 1.0f);
     
-    foc.vd = KP_D * d_err + control.d_integral + Lq * POLE_PAIRS * read.w * foc.q / BUS_VOLTAGE / 2.0f;
-    foc.vq = KP_Q * q_err + control.q_integral - Ld * POLE_PAIRS * read.w * foc.d / BUS_VOLTAGE / 2.0f;
+    foc.vd = KP_D * d_err + control.d_integral;// + Lq * POLE_PAIRS * read.w * foc.q / BUS_VOLTAGE / 2.0f;
+    foc.vq = KP_Q * q_err + control.q_integral;// - Ld * POLE_PAIRS * read.w * foc.d / BUS_VOLTAGE / 2.0f;
     
     constrain_norm(&foc.vd, &foc.vq, 1.0f, 1.0f, 1.0f);