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acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/nuttx-apps.git
The following commit(s) were added to refs/heads/master by this push:
new baa23afbd industry/foc/openloop: don't use direction argument, instead
use signed velocity
baa23afbd is described below
commit baa23afbd39949f73d5b7c67686ff3cc9ca8f4dc
Author: raiden00pl <raide...@railab.me>
AuthorDate: Fri Oct 6 13:10:39 2023 +0200
industry/foc/openloop: don't use direction argument, instead use signed
velocity
otherwise, when dir=-1 and the velocity value is negative, the output from
velocity is in the opposite direction than the intended one
---
industry/foc/fixed16/foc_ang_openloop.c | 6 ++++--
industry/foc/float/foc_ang_openloop.c | 6 ++++--
2 files changed, 8 insertions(+), 4 deletions(-)
diff --git a/industry/foc/fixed16/foc_ang_openloop.c
b/industry/foc/fixed16/foc_ang_openloop.c
index 64f8194b8..8744f2da5 100644
--- a/industry/foc/fixed16/foc_ang_openloop.c
+++ b/industry/foc/fixed16/foc_ang_openloop.c
@@ -258,9 +258,11 @@ static int foc_angle_ol_run_b16(FAR foc_angle_b16_t *h,
DEBUGASSERT(h->data);
ol = h->data;
- /* Update open-loop */
+ /* Update open-loop.
+ * NOTE: we don't use dir argument here, instead we use signed velocity.
+ */
- motor_openloop_b16(&ol->data, in->vel, in->dir);
+ motor_openloop_b16(&ol->data, in->vel, 1);
tmp = motor_openloop_angle_get_b16(&ol->data);
diff --git a/industry/foc/float/foc_ang_openloop.c
b/industry/foc/float/foc_ang_openloop.c
index 44122025a..d33f30169 100644
--- a/industry/foc/float/foc_ang_openloop.c
+++ b/industry/foc/float/foc_ang_openloop.c
@@ -259,9 +259,11 @@ static int foc_angle_ol_run_f32(FAR foc_angle_f32_t *h,
DEBUGASSERT(h->data);
ol = h->data;
- /* Update open-loop */
+ /* Update open-loop.
+ * NOTE: we don't use dir argument here, instead we use signed velocity.
+ */
- motor_openloop(&ol->data, in->vel, in->dir);
+ motor_openloop(&ol->data, in->vel, 1.0f);
/* Get open-loop angle */
