Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: main.cpp

Revision:
88:703780322d5b
Parent:
76:c66014e50384
Child:
89:9e00a3c0c7ad
--- a/main.cpp	Wed Mar 01 00:48:59 2017 +0000
+++ b/main.cpp	Tue Mar 28 05:46:18 2017 +0000
@@ -84,7 +84,8 @@
     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, 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;