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Use std::clamp instead of manual clamping in some spots

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2020-05-07 18:04:27 -04:00
parent 19647db3e6
commit 6863507570
2 changed files with 4 additions and 6 deletions
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Firmware/MotorControl/controller.cpp
+1 -2
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@@ -256,8 +256,7 @@ bool Controller::update(float* current_setpoint_output) {
// Velocity limiting
float vel_lim = config_.vel_limit;
if (config_.enable_vel_limit) {
if (vel_des > vel_lim) vel_des = vel_lim;
if (vel_des < -vel_lim) vel_des = -vel_lim;
vel_des = std::clamp(vel_des, -vel_lim, vel_lim);
}
// Check for overspeed fault (done in this module (controller) for cohesion with vel_lim)
Firmware/MotorControl/motor.cpp
+3 -4
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@@ -447,9 +447,8 @@ bool Motor::update(float current_setpoint, float phase, float phase_vel) {
// TODO: 2-norm vs independent clamping (current could be sqrt(2) bigger)
float ilim = effective_current_lim();
// TODO: use std::clamp (C++17)
float id = MACRO_MIN(MACRO_MAX(current_control_.Id_setpoint, -ilim), ilim);
float iq = MACRO_MIN(MACRO_MAX(current_setpoint, -ilim), ilim);
float id = std::clamp(current_control_.Id_setpoint, -ilim, ilim);
float iq = std::clamp(current_setpoint, -ilim, ilim);
if (config_.motor_type == MOTOR_TYPE_ACIM) {
// Note that the effect of the current commands on the real currents is actually 1.5 PWM cycles later
@@ -460,7 +459,7 @@ bool Motor::update(float current_setpoint, float phase, float phase_vel) {
float abs_iq = fabsf(iq);
float gain = abs_iq > id ? config_.acim_autoflux_attack_gain : config_.acim_autoflux_decay_gain;
id += gain * (abs_iq - id) * current_meas_period;
id = MACRO_MIN(MACRO_MAX(id, config_.acim_autoflux_min_Id), ilim);
id = std::clamp(id, config_.acim_autoflux_min_Id, ilim);
current_control_.Id_setpoint = id;
}