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fix resistance measurement factor 2 error

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Oskar Weigl
2017-08-19 23:05:24 -07:00
parent b01e43c9bd
commit 40e076b5e5
1 changed files with 1 additions and 1 deletions
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MotorControl/low_level.c
+1 -1
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@@ -823,7 +823,7 @@ static bool measure_phase_resistance(Motor_t* motor, float test_current, float m
motor->error = ERROR_PHASE_RESISTANCE_MEASUREMENT_TIMEOUT;
return false;
}
float Ialpha = -0.5f * (motor->current_meas.phB + motor->current_meas.phC);
float Ialpha = -(motor->current_meas.phB + motor->current_meas.phC);
test_voltage += (kI * CURRENT_MEAS_PERIOD) * (test_current - Ialpha);
if (test_voltage > max_voltage) test_voltage = max_voltage;
if (test_voltage < -max_voltage) test_voltage = -max_voltage;