#include "pmsm_state.h"
#include "cmd_proc.h"
-#define MAX_DUTY 128
-#define PID_P 0.1
+#define MAX_DUTY 170
+#define PID_P 0.3
#define PRIOR_KERN 50
#define PRIOR_HIGH 49
*beta=-sin*d+cos*q;
return;
}
-void alphabeta2pwm3(int32_t * pwma, int32_t * pwmb, int32_t *pwmc,int32_t alpha, int32_t beta){
- *pwma=alpha;
- *pwmb=-alpha/2+beta*887/1024;
- *pwmc=-alpha/2-beta*887/1024;
+void alphabeta2pwm3(int32_t * ia, int32_t * ib, int32_t *ic,int32_t alpha, int32_t beta){
+ *ia=alpha;
+ *ib=-alpha/2+beta*887/1024;
+ *ic=-alpha/2-beta*887/1024;
}
/*
* \brief