Merge branch 'sys_id' of github.com:rene-dev/stmbl into sys_id

fix dc phasing
fix pid torque ff
2024-12-19 23:22:08 +00:00 · 2021-09-01 00:54:35 +02:00 · 2021-09-01 00:54:16 +02:00 · 2021-09-01 00:51:20 +02:00
3 changed files with 5 additions and 3 deletions
--- a/conf/template/conf.txt
+++ b/conf/template/conf.txt
@ -1,6 +1,7 @@
 load conf
 conf0.r = 1
 conf0.l = 0.01
+conf0.l_ratio = 1
 conf0.j = 0.000025
 conf0.j_sys = 0.0
 conf0.j_lpf = 100.0
--- a/conf/template/dc.txt
+++ b/conf/template/dc.txt
@ -6,4 +6,6 @@ hv0.d_cmd = 0
 hv0.pos = 0
 hv0.phase_mode = 3
 hv0.q_cmd = dc_ttc0.cur
-hv0.cmd_mode = 1
+hv0.cmd_mode = 1
+conf0.phase_time = 0
+conf0.phase_cur = 0
--- a/shared/comps/pid.c
+++ b/shared/comps/pid.c
@ -154,8 +154,7 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
      PIN(torque_sat) = MAX(PIN(torque_sat) - period, 0.0);
    }

-    PIN(ff_torque_cmd) = PIN(torque_ext_cmd);
-    PIN(ff_torque_cmd) += PIN(acc_ext_cmd) * (PIN(j_mot) + PIN(j_sys));
+    PIN(ff_torque_cmd) = PIN(acc_ext_cmd) * (PIN(j_mot) + PIN(j_sys));
    PIN(ff_torque_cmd) += PIN(d) * PIN(vel_cmd);
    PIN(ff_torque_cmd) += PIN(f) * SIGN2(PIN(vel_cmd), PIN(max_vel) * 0.001);
    PIN(ff_torque_cmd) += PIN(l);
Author	SHA1	Message	Date
crinq	71ec816a7f	Merge branch 'sys_id' of github.com:rene-dev/stmbl into sys_id	2021-09-01 00:54:35 +02:00
crinq	6a9d1ffd1e	fix dc phasing	2021-09-01 00:54:16 +02:00
crinq	4253302764	fix pid torque ff	2021-09-01 00:51:20 +02:00