feedc0de/bobbycar-controller-firmware
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Updated Model and did some changes in main.cpp so it works with the new model

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greyhash
2020-10-19 17:42:21 +02:00
parent 985cfdd802
commit aa589cb565
2 changed files with 6 additions and 6 deletions
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2
bobbycar-foc-model

Submodule bobbycar-foc-model updated: 24e9a0af18...e41c8c605c

10
main.cpp
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@ -165,7 +165,7 @@ int main()
HAL_ADC_Start(&hadc2); HAL_ADC_Start(&hadc2);
left.rtP = rtP_Left; left.rtP = rtP_Left;
left.rtP.b_selPhaABCurrMeas = 1; // Left motor measured current phases = {iA, iB} -> do NOT change left.rtP.z_selPhaCurMeasABC = 1; // Left motor measured current phases = {iA, iB} -> do NOT change
left.rtP.z_ctrlTypSel = uint8_t(left.state.ctrlTyp); left.rtP.z_ctrlTypSel = uint8_t(left.state.ctrlTyp);
left.rtP.b_diagEna = DIAG_ENA; left.rtP.b_diagEna = DIAG_ENA;
left.rtP.i_max = (left.state.iMotMax * A2BIT_CONV) << 4; // fixdt(1,16,4) left.rtP.i_max = (left.state.iMotMax * A2BIT_CONV) << 4; // fixdt(1,16,4)
@ -181,7 +181,7 @@ int main()
left.rtM.outputs = &left.rtY; left.rtM.outputs = &left.rtY;
right.rtP = rtP_Left; right.rtP = rtP_Left;
right.rtP.b_selPhaABCurrMeas = 0; // Left motor measured current phases = {iB, iC} -> do NOT change right.rtP.z_selPhaCurMeasABC = 1; // Left motor measured current phases = {iB, iC} -> do NOT change
right.rtP.z_ctrlTypSel = uint8_t(right.state.ctrlTyp); right.rtP.z_ctrlTypSel = uint8_t(right.state.ctrlTyp);
right.rtP.b_diagEna = DIAG_ENA; right.rtP.b_diagEna = DIAG_ENA;
right.rtP.i_max = (right.state.iMotMax * A2BIT_CONV) << 4; // fixdt(1,16,4) right.rtP.i_max = (right.state.iMotMax * A2BIT_CONV) << 4; // fixdt(1,16,4)
@ -215,7 +215,7 @@ int main()
int pwm = 0; int pwm = 0;
int8_t dir = 1; int8_t dir = 1;
const int pwmMax = 400; const int pwmMax = 1000;
for (;;) { for (;;) {
HAL_Delay(DELAY_IN_MAIN_LOOP ); //delay in ms HAL_Delay(DELAY_IN_MAIN_LOOP ); //delay in ms
@ -288,8 +288,8 @@ void updateMotors()
} }
// Get Left motor currents // Get Left motor currents
int16_t curL_phaA = (int16_t)(offsetrl1 - adc_buffer.rl1)*2; int16_t curL_phaB = (int16_t)(offsetrl1 - adc_buffer.rl1)*2;
int16_t curL_phaB = (int16_t)(offsetrl2 - adc_buffer.rl2)*2; int16_t curL_phaA = (int16_t)(offsetrl2 - adc_buffer.rl2)*2;
int16_t curL_DC = (int16_t)(offsetdcl - adc_buffer.dcl); int16_t curL_DC = (int16_t)(offsetdcl - adc_buffer.dcl);
// Get Right motor currents // Get Right motor currents