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► New BLDC control

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- auto-code regenerated
This commit is contained in:
EmanuelFeru
2019-06-06 22:05:57 +02:00
parent fe4bd76d7e
commit b90a2503b4
71 changed files with 9025 additions and 8864 deletions
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11
Src/main.c
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@@ -23,7 +23,6 @@
#include "defines.h"
#include "setup.h"
#include "config.h"
#include <stdlib.h>
//#include "hd44780.h"
// Matlab includes and defines - from auto-code generation
@@ -31,8 +30,8 @@
#include "BLDC_controller.h" /* Model's header file */
#include "rtwtypes.h"
static RT_MODEL rtM_Left_; /* Real-time model */
static RT_MODEL rtM_Right_; /* Real-time model */
RT_MODEL rtM_Left_; /* Real-time model */
RT_MODEL rtM_Right_; /* Real-time model */
RT_MODEL *const rtM_Left = &rtM_Left_;
RT_MODEL *const rtM_Right = &rtM_Right_;
@@ -263,9 +262,11 @@ int main(void) {
timeout = 0;
#endif
// Bypass - only for testing purposes
// cmd2 = cmd2-500;
// cmd1 = 0;
// ####### LOW-PASS FILTER #######
cmd2 = cmd2-500;
cmd1 = 0;
steer = steer * (1.0 - FILTER) + cmd1 * FILTER;
speed = speed * (1.0 - FILTER) + cmd2 * FILTER;