Mirrors_Framework/ODrive
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change fmaxf to std max

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This commit is contained in:
Oskar Weigl
2020-09-04 18:23:33 -07:00
parent fc726dfa36
commit 711111e6fb
4 changed files with 4 additions and 4 deletions
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Firmware/MotorControl/low_level.cpp
+1 -1
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@@ -494,7 +494,7 @@ void update_brake_current() {
float brake_duty = brake_current * odrv.config_.brake_resistance / vbus_voltage;
if (odrv.config_.enable_dc_bus_overvoltage_ramp && (odrv.config_.brake_resistance > 0.0f) && (odrv.config_.dc_bus_overvoltage_ramp_start < odrv.config_.dc_bus_overvoltage_ramp_end)) {
brake_duty += std::fmax((vbus_voltage - odrv.config_.dc_bus_overvoltage_ramp_start) / (odrv.config_.dc_bus_overvoltage_ramp_end - odrv.config_.dc_bus_overvoltage_ramp_start), 0.0f);
brake_duty += std::max((vbus_voltage - odrv.config_.dc_bus_overvoltage_ramp_start) / (odrv.config_.dc_bus_overvoltage_ramp_end - odrv.config_.dc_bus_overvoltage_ramp_start), 0.0f);
}
if (std::isnan(brake_duty)) {
Firmware/MotorControl/motor.cpp
+1 -1
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@@ -416,7 +416,7 @@ bool Motor::update(float torque_setpoint, float phase, float phase_vel) {
phase_vel *= config_.direction;
if (config_.motor_type == MOTOR_TYPE_ACIM) {
current_setpoint = torque_setpoint / (config_.torque_constant * fmax(current_control_.acim_rotor_flux, config_.acim_gain_min_flux));
current_setpoint = torque_setpoint / (config_.torque_constant * std::max(current_control_.acim_rotor_flux, config_.acim_gain_min_flux));
}
else {
current_setpoint = torque_setpoint / config_.torque_constant;
Firmware/MotorControl/trapTraj.cpp
+1 -1
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@@ -42,7 +42,7 @@ bool TrapezoidalTrajectory::planTrapezoidal(float Xf, float Xi, float Vi,
// Are we displacing enough to reach cruising speed?
if (s*dX < s*dXmin) {
// Short move (triangle profile)
Vr_ = s * sqrtf(std::fmax((Dr_*SQ(Vi) + 2*Ar_*Dr_*dX) / (Dr_ - Ar_), 0.0f));
Vr_ = s * sqrtf(std::max((Dr_*SQ(Vi) + 2*Ar_*Dr_*dX) / (Dr_ - Ar_), 0.0f));
Ta_ = std::max(0.0f, (Vr_ - Vi) / Ar_);
Td_ = std::max(0.0f, -Vr_ / Dr_);
Tv_ = 0.0f;
Firmware/Tests/test_trap_traj.cpp
+1 -1
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@@ -85,7 +85,7 @@ bool TrapezoidalTrajectory::planTrapezoidal(float Xf, float Xi, float Vi,
// Are we displacing enough to reach cruising speed?
if (s*dX < s*dXmin) {
// Short move (triangle profile)
Vr_ = s * sqrtf(std::fmax((Dr_*SQ(Vi) + 2*Ar_*Dr_*dX) / (Dr_ - Ar_), 0.0f));
Vr_ = s * sqrtf(std::max((Dr_*SQ(Vi) + 2*Ar_*Dr_*dX) / (Dr_ - Ar_), 0.0f));
//Vr_ = s * sqrtf((Dr_*SQ(Vi) + 2*Ar_*Dr_*dX) / (Dr_ - Ar_));
Ta_ = std::max(0.0f, (Vr_ - Vi) / Ar_);
Td_ = std::max(0.0f, -Vr_ / Dr_);