From 2ab9fe6a5c1bd4ceb0915f99b4e08a4c53e9ad36 Mon Sep 17 00:00:00 2001 From: Peter Date: Sat, 24 Oct 2020 22:37:17 +0200 Subject: [PATCH] fix FOC on left motor --- main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/main.cpp b/main.cpp index 1dce694..3fc4638 100644 --- a/main.cpp +++ b/main.cpp @@ -165,7 +165,7 @@ int main() HAL_ADC_Start(&hadc2); left.rtP = rtP_Left; - left.rtP.b_selPhaABCurrMeas = 1; // Left motor measured current phases = {iA, iB} -> do NOT change + left.rtP.b_selPhaABCurrMeas = 0; // Left motor measured current phases = {iA, iB} -> do NOT change left.rtP.z_ctrlTypSel = uint8_t(left.state.ctrlTyp); left.rtP.b_diagEna = DIAG_ENA; left.rtP.i_max = (left.state.iMotMax * A2BIT_CONV) << 4; // fixdt(1,16,4)