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fix resistance measurement bug

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This commit is contained in:
Oskar Weigl
2017-06-24 16:58:49 -07:00
parent 471573307f
commit 51ca4e83de
1 changed files with 3 additions and 4 deletions
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MotorControl/low_level.c
+3 -4
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@@ -802,7 +802,7 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc) {
// Measurement and calibration
//--------------------------------
// TODO measure all phases
// TODO check Ibeta balance to verify good motor connection
static bool measure_phase_resistance(Motor_t* motor, float test_current, float max_voltage) {
static const float kI = 10.0f; //[(V/s)/A]
static const int num_test_cycles = 3.0f / CURRENT_MEAS_PERIOD; // Test runs for 3s
@@ -832,7 +832,7 @@ static bool measure_phase_resistance(Motor_t* motor, float test_current, float m
queue_voltage_timings(motor, 0.0f, 0.0f);
float R = test_voltage / test_current;
if (R < 0.01 || R > 0.2) {
if (fabs(test_voltage) == max_voltage || R < 0.01f || R > 1.0f) {
motor->error = ERROR_PHASE_RESISTANCE_OUT_OF_RANGE;
return false;
}
@@ -840,7 +840,6 @@ static bool measure_phase_resistance(Motor_t* motor, float test_current, float m
return true;
}
// TODO measure all phases
static bool 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};
@@ -875,7 +874,7 @@ static bool measure_phase_inductance(Motor_t* motor, float voltage_low, float vo
float L = v_L / dI_by_dt;
// TODO arbitrary values set for now
if (L < 1e-6 || L > 500e-6) {
if (L < 1e-6f || L > 500e-6f) {
motor->error = ERROR_PHASE_INDUCTANCE_OUT_OF_RANGE;
return false;
}