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fix cpplint errors

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fix cpplint again
This commit is contained in:
Игорь Брылёв 2025-02-17 18:53:37 +03:00
parent 631cadca26
commit 365124fd91
1 changed files with 10 additions and 10 deletions
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20
controller/fw/embed/src/main.cpp
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@ -52,7 +52,7 @@ void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
driver->pwm_frequency = 20000;
driver->voltage_power_supply = 24;
driver->voltage_limit = 24;
driver->init();
driver->init();
current_sense->linkDriver(driver);
current_sense->init();
@ -61,23 +61,23 @@ void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
motor->linkDriver(driver);
motor->linkCurrentSense(current_sense);
motor->useMonitoring(Serial);
motor->monitor_downsample = 5000; // default 0
motor->monitor_downsample = 5000; // default 0
motor->controller = MotionControlType::angle;
motor->torque_controller = TorqueControlType::voltage;
motor->foc_modulation = FOCModulationType::SpaceVectorPWM;
//PID start
// PID start
motor->PID_velocity.P = 0.75;
motor->PID_velocity.I = 20;
motor->LPF_velocity.Tf = 0.005;
motor->P_angle.P = 0.5 ;
motor->LPF_angle.Tf = 0.001;
//PID end
motor->LPF_velocity.Tf = 0.005;
motor->P_angle.P = 0.5;
motor->LPF_angle.Tf = 0.001;
// PID end
motor->velocity_limit = 40; // Ограничение по скорости вращения rad/s (382 rpm)
motor->velocity_limit = 40; // Ограничение по скорости вращения rad/s (382 rpm)
motor->voltage_limit = 24;
motor->current_limit = 0.5;
motor->sensor_direction = Direction::CCW;
motor->init();
motor->initFOC();
@ -176,7 +176,7 @@ void setup() {
Can.setBaudRate(1000000);
TIM_TypeDef *Instance = TIM2;
HardwareTimer *SendTimer = new HardwareTimer(Instance);
SendTimer->setOverflow(100, HERTZ_FORMAT); // 50 Hz
SendTimer->setOverflow(100, HERTZ_FORMAT); // 50 Hz
SendTimer->attachInterrupt(send_data);
SendTimer->resume();
setup_foc(&encoder, &motor, &driver, &current_sense, &command, doMotor);