Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-08-18 18:20:15 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Clamped max_torque to 0 for ACIM motors in case max_torque happened to be negative.

Browse Source
This commit is contained in:
pjohnson
2020-06-18 15:13:58 -04:00
parent a9b1841092
commit 63f7c09bc2
1 changed files with 5 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/MotorControl/motor.cpp
+5 -4
View File
@@ -192,17 +192,18 @@ float Motor::effective_current_lim() {
return current_lim;
}
//return the maximum available torque for the motor.
//Note - for ACIM motors, available torque is allowed to be 0.
float Motor::max_available_torque() {
//return the maximum available torque for the motor.
//Note - for ACIM motors, available torque is allowed to be 0.
if (config_.motor_type == Motor::MOTOR_TYPE_ACIM) {
float max_torque = effective_current_lim() * config_.torque_constant * current_control_.acim_rotor_flux;
max_torque = fmin(max_torque, config_.torque_lim);
max_torque = std::clamp(max_torque, 0.0f, max_torque);
max_torque = std::min(max_torque, config_.torque_lim);
return max_torque;
}
else {
float max_torque = effective_current_lim() * config_.torque_constant;
max_torque = fmin(max_torque, config_.torque_lim);
max_torque = std::min(max_torque, config_.torque_lim);
return max_torque;
}
}