Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: main.cpp

Revision:
58:7316c5a4c417
Parent:
56:c681001dfa46
Child:
59:0416da6c3060
--- a/main.cpp	Sat Jan 28 01:56:28 2017 +0000
+++ b/main.cpp	Sat Jan 28 02:44:52 2017 +0000
@@ -80,14 +80,14 @@
     float d_err = control.d_ref - control.d_filtered;
     float q_err = control.q_ref - control.q_filtered;
     
-    control.d_integral += d_err * KI;
-    control.q_integral += q_err * KI;
+    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);
-    control.d_integral = constrain(control.d_integral, -INTEGRAL_MAX, INTEGRAL_MAX);
     
-    foc.vd = KP * d_err + control.d_integral;// - Lq * POLE_PAIRS * read.w * foc.q / BUS_VOLTAGE / 2.0f;
-    foc.vq = KP * 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;
     
     foc.vd = constrain(foc.vd, -1.0f, 1.0f);
     foc.vq = constrain(foc.vq, -1.0f, 1.0f);