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examples/foc: set direction when updating new setpoint

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raiden00pl 2023-11-08 18:39:01 +01:00 committed by Xiang Xiao
parent 1095aec162
commit b52f7dae0c
2 changed files with 14 additions and 10 deletions
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12
examples/foc/foc_motor_b16.c
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@ -441,7 +441,7 @@ static int foc_motor_torq(FAR struct foc_motor_b16_s *motor, uint32_t torq)
tmp1 = itob16(motor->envp->cfg->torqmax / 1000);
tmp2 = b16mulb16(ftob16(SETPOINT_INTF_SCALE), tmp1);
motor->torq.des = b16muli(tmp2, torq);
motor->torq.des = b16mulb16(motor->dir, b16muli(tmp2, torq));
return OK;
}
@ -466,7 +466,7 @@ static int foc_motor_vel(FAR struct foc_motor_b16_s *motor, uint32_t vel)
tmp1 = itob16(motor->envp->cfg->velmax / 1000);
tmp2 = b16mulb16(ftob16(SETPOINT_INTF_SCALE), tmp1);
motor->vel.des = b16muli(tmp2, vel);
motor->vel.des = b16mulb16(motor->dir, b16muli(tmp2, vel));
return OK;
}
@ -491,7 +491,7 @@ static int foc_motor_pos(FAR struct foc_motor_b16_s *motor, uint32_t pos)
tmp1 = itob16(motor->envp->cfg->posmax / 1000);
tmp2 = b16mulb16(ftob16(SETPOINT_INTF_SCALE), tmp1);
motor->pos.des = b16muli(tmp2, pos);
motor->pos.des = b16mulb16(motor->dir, b16muli(tmp2, pos));
return OK;
}
@ -914,7 +914,9 @@ static int foc_motor_run(FAR struct foc_motor_b16_s *motor)
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
case FOC_MMODE_TORQ:
{
motor->torq.set = b16mulb16(motor->dir, motor->torq.des);
/* Torque setpoint */
motor->torq.set = motor->torq.des;
q_ref = motor->torq.set;
d_ref = 0;
@ -931,7 +933,7 @@ static int foc_motor_run(FAR struct foc_motor_b16_s *motor)
/* Run velocity ramp controller */
ret = foc_ramp_run_b16(&motor->ramp,
motor->dir * motor->vel.des,
motor->vel.des,
motor->vel.now,
&motor->vel.set);
if (ret < 0)

12
examples/foc/foc_motor_f32.c
View File

@ -431,7 +431,7 @@ static int foc_motor_torq(FAR struct foc_motor_f32_s *motor, uint32_t torq)
/* Update motor torque destination */
motor->torq.des = (torq * SETPOINT_INTF_SCALE *
motor->torq.des = (motor->dir * torq * SETPOINT_INTF_SCALE *
motor->envp->cfg->torqmax / 1000.0f);
return OK;
@ -449,7 +449,7 @@ static int foc_motor_vel(FAR struct foc_motor_f32_s *motor, uint32_t vel)
/* Update motor velocity destination */
motor->vel.des = (vel * SETPOINT_INTF_SCALE *
motor->vel.des = (motor->dir * vel * SETPOINT_INTF_SCALE *
motor->envp->cfg->velmax / 1000.0f);
return OK;
@ -467,7 +467,7 @@ static int foc_motor_pos(FAR struct foc_motor_f32_s *motor, uint32_t pos)
/* Update motor position destination */
motor->pos.des = (pos * SETPOINT_INTF_SCALE *
motor->pos.des = (motor->dir * pos * SETPOINT_INTF_SCALE *
motor->envp->cfg->posmax / 1000.0f);
return OK;
@ -897,7 +897,9 @@ static int foc_motor_run(FAR struct foc_motor_f32_s *motor)
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
case FOC_MMODE_TORQ:
{
motor->torq.set = motor->dir * motor->torq.des;
/* Torque setpoint */
motor->torq.set = motor->torq.des;
q_ref = motor->torq.set;
d_ref = 0.0f;
@ -914,7 +916,7 @@ static int foc_motor_run(FAR struct foc_motor_f32_s *motor)
/* Run velocity ramp controller */
ret = foc_ramp_run_f32(&motor->ramp,
motor->dir * motor->vel.des,
motor->vel.des,
motor->vel.now,
&motor->vel.set);
if (ret < 0)