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hoverboard-firmware-hack-serial-esc
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This commit is contained in:
crinq 2018-01-03 23:55:54 +01:00
parent 73d5c38c88
commit b95d11bd57
1 changed files with 15 additions and 20 deletions
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35
Src/main.c
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@ -199,30 +199,25 @@ int main(void)
while (1) while (1)
{ {
HAL_Delay(0); HAL_Delay(0);
int milli_cur = 3000; int milli_cur = 3000;
int milli_volt = milli_cur * MILLI_R / 1000;// + vel * MILLI_PSI * 141; int milli_volt = milli_cur * MILLI_R / 1000;// + vel * MILLI_PSI * 141;
// pwm = milli_volt * pwm_res / MILLI_V; // pwm = milli_volt * pwm_res / MILLI_V;
int milli_vel_cmd = 200; int milli_vel_cmd = 200;
int milli_vel_error = milli_vel_cmd - vel; int milli_vel_error = milli_vel_cmd - vel;
milli_vel_error_sum += milli_vel_error; milli_vel_error_sum += milli_vel_error;
milli_vel_error_sum = CLAMP(milli_vel_error_sum, -200000, 200000); milli_vel_error_sum = CLAMP(milli_vel_error_sum, -200000, 200000);
pwm = CLAMP(milli_vel_cmd / 5 + milli_vel_error_sum / 200, -500, 500); pwm = CLAMP(milli_vel_cmd / 5 + milli_vel_error_sum / 200, -500, 500);
if(vel > milli_vel_cmd){ if(vel > milli_vel_cmd){
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1); HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
}
else{
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
}
} }
else{
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
}
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
} }
/** System Clock Configuration /** System Clock Configuration