fix cpplint errors
fix cpplint again
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631cadca26
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365124fd91
1 changed files with 10 additions and 10 deletions
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@ -66,13 +66,13 @@ void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
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motor->torque_controller = TorqueControlType::voltage;
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motor->torque_controller = TorqueControlType::voltage;
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motor->foc_modulation = FOCModulationType::SpaceVectorPWM;
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motor->foc_modulation = FOCModulationType::SpaceVectorPWM;
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//PID start
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// PID start
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motor->PID_velocity.P = 0.75;
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motor->PID_velocity.P = 0.75;
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motor->PID_velocity.I = 20;
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motor->PID_velocity.I = 20;
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motor->LPF_velocity.Tf = 0.005;
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motor->LPF_velocity.Tf = 0.005;
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motor->P_angle.P = 0.5 ;
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motor->P_angle.P = 0.5;
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motor->LPF_angle.Tf = 0.001;
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motor->LPF_angle.Tf = 0.001;
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//PID end
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// PID end
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motor->velocity_limit = 40; // Ограничение по скорости вращения rad/s (382 rpm)
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motor->velocity_limit = 40; // Ограничение по скорости вращения rad/s (382 rpm)
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motor->voltage_limit = 24;
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motor->voltage_limit = 24;
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