X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/8785f652c92188d72cc75512567ceae80b3e611d..85772a932e99215c8c86d92feb203ee928df0e5f:/pmsm-control/test_sw/main_pmsm.c

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 48fcf1e..dd2372d 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -25,9 +25,9 @@
 #include "pmsm_state.h"
 #include "cmd_proc.h"
 
-#define MAX_DUTY	170
+
 #define PID_P		0.3
-#define PID_P_S		0.3
+#define PID_P_S		0.7
 
 #define PRIOR_KERN	50
 #define PRIOR_HIGH	49
@@ -539,7 +539,7 @@ inline void pos_pid(){
  */
 inline void spd_pid(){
 	int duty_tmp;
-	duty_tmp = PID_P*(rps.desired_pos - (int32_t)data.pozice);
+	duty_tmp = PID_P_S*(rps.desired_spd - rps.speed);
 	if (duty_tmp>MAX_DUTY){
 		rps.duty=MAX_DUTY;
 	}else if (duty_tmp<-MAX_DUTY){
@@ -601,10 +601,14 @@ void * read_data(void* param){
 			}else{ /*index je v poradku*/
 				comIndDist();		/*vypocet vzdalenosti indexu*/
 			}
+
 			/* pocitame sirku plneni podle potreb rizeni*/
-			if (rps.pos_reg_ena){
+			if (rps.pos_reg_ena){           /*pozicni rizeni*/
 				pos_pid();
+			}else if(rps.spd_reg_ena){	/*rizeni na rychlost*/
+				spd_pid();
 			}
+
 			/* sirka plneni prepoctena na jednotlive pwm */
 			if (rps.index_ok && rps.commutate){
 				/*simple_ind_dist_commutator(rps.duty);*/