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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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6
controller/fw/embed/src/main.cpp
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@ -66,13 +66,13 @@ void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
motor->torque_controller = TorqueControlType::voltage; motor->torque_controller = TorqueControlType::voltage;
motor->foc_modulation = FOCModulationType::SpaceVectorPWM; motor->foc_modulation = FOCModulationType::SpaceVectorPWM;
//PID start // PID start
motor->PID_velocity.P = 0.75; motor->PID_velocity.P = 0.75;
motor->PID_velocity.I = 20; motor->PID_velocity.I = 20;
motor->LPF_velocity.Tf = 0.005; motor->LPF_velocity.Tf = 0.005;
motor->P_angle.P = 0.5 ; motor->P_angle.P = 0.5;
motor->LPF_angle.Tf = 0.001; motor->LPF_angle.Tf = 0.001;
//PID end // 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->voltage_limit = 24;