Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: main.cpp

Revision:
35:89385f64c867
Parent:
34:454a4256c4fe
Child:
36:cac9785c91cb
--- a/main.cpp	Wed Nov 23 02:38:15 2016 +0000
+++ b/main.cpp	Wed Nov 23 02:40:31 2016 +0000
@@ -142,8 +142,8 @@
     q_integral = constrain(q_integral, -INTEGRAL_MAX, INTEGRAL_MAX);
     d_integral = constrain(d_integral, -INTEGRAL_MAX, INTEGRAL_MAX);
     
-    vd = KP * d_err + d_integral;// - Lq * POLE_PAIRS * w * q / BUS_VOLTAGE * (float) (1e-6);
-    vq = KP * q_err + q_integral;// + Ld * POLE_PAIRS * w * d / BUS_VOLTAGE * (float) (1e-6);
+    vd = KP * d_err + d_integral;// - Lq * POLE_PAIRS * w * q / BUS_VOLTAGE;
+    vq = KP * q_err + q_integral;// + Ld * POLE_PAIRS * w * d / BUS_VOLTAGE;
     
     //vd = constrain(vd, -1.0f, 1.0f);
     //vq = constrain(vq, -1.0f, 1.0f);