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make pole pairs param named

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Oskar Weigl
2017-05-16 17:47:53 -07:00
parent b4b5489806
commit b56d6c92db
1 changed files with 2 additions and 1 deletions
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MotorControl/low_level.c
+2 -1
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@@ -37,7 +37,8 @@ float vbus_voltage = 12.0f;
// TODO stick parameter into struct
#define ENCODER_CPR (600*4)
static float elec_rad_per_enc = 7.0 * 2 * M_PI * (1.0f / (float)ENCODER_CPR);
#define POLE_PAIRS 7
static float elec_rad_per_enc = POLE_PAIRS * 2 * M_PI * (1.0f / (float)ENCODER_CPR);
// TODO: Migrate to C++, clearly we are actually doing object oriented code here...
// TODO: For nice encapsulation, consider not having the motor objects public