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motor umpolen

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Rene Hopf
2014-10-24 09:33:44 +02:00
parent 867e4d2d87
commit 488243c11d
1 changed files with 3 additions and 2 deletions
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src/main.c
+3 -2
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@@ -70,7 +70,7 @@ enum{
} state;
void enable(){
PWM_E = mag_res*0.9;
PWM_E = mag_res*0.97;
}
void disable(){
@@ -87,6 +87,7 @@ float get_res_pos(){
void output_ac_pwm(){
float volt = CLAMP(voltage_scale,-1.0,1.0);
volt = volt*-1;
if(rescal){
mag_pos += DEG(0.36*vel)*pole_count;// u/sec
@@ -208,7 +209,7 @@ void TIM5_IRQHandler(void){ //1KHz
pid.feedbackv = minus(ist, ist_old) * freq;
pid.commandv = minus(soll_pos, soll_pos_old) * freq*0.5 + pid.commandv*0.5;
pid.error = minus(soll_pos, ist);
if(ABS(pid.error) > DEG(45)){
if(ABS(pid.error) > DEG(90)){
disable();
state = EFOLLOW;
pid.enable = 0;