Diff: main.cpp

Revision:

50:f508c7860342

Parent:

49:da8604278d76

Child:

51:8b817927d6e4

--- a/main.cpp	Mon Jan 16 18:50:48 2017 +0000
+++ b/main.cpp	Sun Jan 22 04:19:10 2017 +0000
@@ -86,8 +86,8 @@
     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 * w * q / BUS_VOLTAGE;
-    foc.vq = KP * q_err + control.q_integral;// + Ld * POLE_PAIRS * w * d / BUS_VOLTAGE;
+    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 = constrain(foc.vd, -1.0f, 1.0f);
     foc.vq = constrain(foc.vq, -1.0f, 1.0f);
@@ -151,10 +151,12 @@
 }
 
 int main() {
-    dq = new LutMapper();//LinearNoFWMapper(KT, TORQUE_MAX, FLUX_LINKAGE);
+    dq = new LutMapper();// LinearNoFWMapper(KT, TORQUE_MAX, FLUX_LINKAGE);
     th = new NullThrottleMapper();
     BREMSInit(&io, &read, &foc, &control, false);
     
     for (;;) {
+        io.pc->printf("%f\n\r", read.w);
+        wait(0.2);
     }
 }
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