Diff: main.cpp

Revision:

37:ba7ebf4f8a78

Parent:

36:cac9785c91cb

Child:

38:07cb4ae6c1bd

--- a/main.cpp	Sun Nov 27 09:10:09 2016 +0000
+++ b/main.cpp	Sun Nov 27 11:36:54 2016 +0000
@@ -91,26 +91,13 @@
 }
 
 //fill in d, q ref based on torque cmd and current velocity
-void get_dq(float torque, float w, float *d, float *q) {
-    /*
-    *d = 0.0f;
-    *q = torque / KT;
-    if (*q > IPHASE_MOTOR_LIMIT) *q = IPHASE_MOTOR_LIMIT;
-    if (*q > IPHASE_INVERTER_LIMIT) *q = IPHASE_INVERTER_LIMIT;
-    */
-    
-    /*
+void get_dq(float torque, float w, float *d, float *q) { 
     torque = fabsf(torque);
     get_mtpa_dq(torque, d, q);
     if (torque < 0.0f) {
         *d = -*d;
         *q = -*q;
     }
-    */
-    
-    float is = torque / KT;
-    *d = (-FLUX_LINKAGE + sqrtf(FLUX_LINKAGE * FLUX_LINKAGE + 8 * (Ld - Lq) * (Ld - Lq) * is * is)) / (4.f * (Ld - Lq));
-    *q = sqrtf(is * is - *d * *d);
 }
 
 void commutate() {