X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/f11e0e40b525a7dfd9d452e02e676ee6cd0478a2..32aaacc65b9f894bea0897421277f71375a7f825:/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 ac3563d..f0fc982 100644
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -61,7 +61,8 @@ struct rpi_state rps={
 	.log_col=0,
 	.doLogs=0,
 	.alpha_offset=960,
-	.main_commutator=zero_commutator	/*komutace vypnuta*/
+	.main_commutator=zero_commutator,	/* komutace vypnuta */
+	.main_controller=zero_controller	/* rizeni vypnuto */
 };
 
 
@@ -154,11 +155,7 @@ void * control_loop(void* param){
 			}
 
 			/* pocitame sirku plneni podle potreb rizeni*/
-			if (rps.pos_reg_ena){           /*pozicni rizeni*/
-				pos_pid(&rps);
-			}else if(rps.spd_reg_ena){	/*rizeni na rychlost*/
-				spd_pid(&rps);
-			}
+			rps.main_controller(&rps);
 
 			/* sirku plneni prepocteme na jednotlive pwm */
 			rps.main_commutator(&rps);