Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 65:6e1fdbfae57b
- Parent:
- 64:b4175385d718
- Child:
- 68:f69a4f5bc93e
- Child:
- 70:5e39beeb4a21
--- a/main.cpp Sat Jan 28 23:21:07 2017 +0000 +++ b/main.cpp Sun Jan 29 07:58:52 2017 +0000 @@ -83,15 +83,11 @@ control.d_integral += d_err * KI_D; control.q_integral += q_err * KI_Q; - //control.d_integral = constrain(control.d_integral, -INTEGRAL_MAX, INTEGRAL_MAX); - //control.q_integral = constrain(control.q_integral, -INTEGRAL_MAX, INTEGRAL_MAX); constrain_norm(&control.d_integral, &control.q_integral, 0.5f, 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 = constrain(foc.vd, -1.0f, 1.0f); - //foc.vq = constrain(foc.vq, -1.0f, 1.0f); constrain_norm(&foc.vd, &foc.vq, 1.0f, 1.0f, 1.0f); if (!control_enabled) { @@ -168,11 +164,5 @@ BREMSInit(&io, &read, &foc, &control, false); for (;;) { - /* - io.pc->printf("%d,%d,%d,%d,%d,%d,%d,%d\n\r", (int) read.w, (int) control.d_ref, (int) control.d_filtered, (int) control.q_ref, (int) control.q_filtered, (int) (256 * io.throttle_in->get_throttle()), - (int) (256 * control.d_integral), (int) (256 * control.q_integral)); - */ - io.pc->printf("%f\n", .0743f*read.w); - wait(0.01); } } \ No newline at end of file