2021-08-26 19:25:16 +00:00
|
|
|
|
|
|
|
load iddc
|
|
|
|
iddc0.rt_prio = 4
|
|
|
|
|
|
|
|
iddc0.en = fault0.en_out
|
|
|
|
fault0.pos_error = 0
|
2021-08-30 16:22:57 +00:00
|
|
|
pid0.en = 0
|
2021-08-26 19:25:16 +00:00
|
|
|
hv0.en = iddc0.en_out
|
|
|
|
hv0.cur_bw = iddc0.cur_bw
|
|
|
|
hv0.cmd_mode = iddc0.cmd_mode
|
|
|
|
hv0.q_cmd = iddc0.q_cmd
|
|
|
|
hv0.pos = iddc0.com_pos
|
|
|
|
hv0.rev = iddc0.out_rev
|
|
|
|
hv0.r = idq0.r
|
|
|
|
hv0.l = idq0.l
|
|
|
|
hv0.phase_mode = 3
|
|
|
|
iddc0.ud_fb = hv0.ud_fb
|
|
|
|
iddc0.uq_fb = hv0.uq_fb
|
|
|
|
iddc0.id_fb = hv0.id_fb
|
|
|
|
iddc0.iq_fb = hv0.iq_fb
|
|
|
|
iddc0.pwm_volt = hv0.pwm_volt
|
|
|
|
|
|
|
|
iddc0.pos_fb = fb_switch0.pos_fb
|
|
|
|
iddc0.vel_fb = vel1.vel
|
|
|
|
|
2021-09-13 13:27:14 +00:00
|
|
|
iddc0.vel_fb = vel1.vel
|