Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-09-22 08:04:07 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

test Ld sweep

Browse Source
This commit is contained in:
Oskar Weigl
2016-12-08 23:10:47 +09:00
parent 20c8052a58
commit 065ea220c6
1 changed files with 13 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
MotorControl/low_level.c
+13 -4
View File
@@ -368,7 +368,7 @@ static float measure_phase_resistance(Motor_t* motor, float test_current, float
static float measure_phase_inductance(Motor_t* motor, float voltage_low, float voltage_high) {
float test_voltages[2] = {voltage_low, voltage_high};
float Ialphas[2] = {0.0f};
static const int num_cycles = 10000;
static const int num_cycles = 2000;
for (int t = 0; t < num_cycles; ++t) {
for (int i = 0; i < 2; ++i) {
@@ -480,13 +480,22 @@ void motor_thread(void const * argument) {
init_motor_control();
float test_current = 3.0f;
float R = measure_phase_resistance(&motors[0], test_current, 1.0f);
float test_current = 5.0f;
float R = measure_phase_resistance(&motors[0], test_current, 1.5f);
// scan_motor(&motors[0], 10.0f, test_current * R);
// square_wave_test(&motors[0]);
float L = measure_phase_inductance(&motors[0], -1.0f, 1.0f);
#define NUM_TESTS 32
float center_currents[NUM_TESTS];
float Ls[NUM_TESTS];
float peak_center_v = 1.4f;
float step = peak_center_v * 2.0f / (float)NUM_TESTS;
for (int i = 0; i < NUM_TESTS; ++i) {
float center_voltage = -peak_center_v + (float)i * step;
center_currents[i] = center_voltage / R;
Ls[i] = measure_phase_inductance(&motors[0], center_voltage - 0.4f, center_voltage + 0.4f);
}
//De-energize motor
set_timings(&motors[0], 0.5f, 0.5f, 0.5f);