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Possible Speed PID fix

This commit is contained in:
Benjamin Vedder 2022-11-21 18:52:02 +01:00
parent 82e156e3e4
commit 1f4e5772d5
1 changed files with 13 additions and 10 deletions
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23
motor/mcpwm_foc.c
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@ -726,22 +726,25 @@ void mcpwm_foc_set_duty_noramp(float dutyCycle) {
* The electrical RPM goal value to use.
*/
void mcpwm_foc_set_pid_speed(float rpm) {
if (get_motor_now()->m_conf->s_pid_ramp_erpms_s > 0.0 ) {
if (get_motor_now()->m_control_mode != CONTROL_MODE_SPEED ||
get_motor_now()->m_state != MC_STATE_RUNNING) {
get_motor_now()->m_speed_pid_set_rpm = mcpwm_foc_get_rpm();
volatile motor_all_state_t *motor = get_motor_now();
if (motor->m_conf->s_pid_ramp_erpms_s > 0.0 ) {
if (motor->m_control_mode != CONTROL_MODE_SPEED ||
motor->m_state != MC_STATE_RUNNING) {
motor->m_speed_pid_set_rpm = mcpwm_foc_get_rpm();
}
get_motor_now()->m_speed_command_rpm = rpm;
motor->m_speed_command_rpm = rpm;
} else {
get_motor_now()->m_speed_pid_set_rpm = rpm;
motor->m_speed_pid_set_rpm = rpm;
}
get_motor_now()->m_control_mode = CONTROL_MODE_SPEED;
motor->m_control_mode = CONTROL_MODE_SPEED;
if (get_motor_now()->m_state != MC_STATE_RUNNING) {
get_motor_now()->m_motor_released = false;
get_motor_now()->m_state = MC_STATE_RUNNING;
if (motor->m_state != MC_STATE_RUNNING &&
fabsf(motor->m_speed_pid_set_rpm) >= motor->m_conf->s_pid_min_erpm) {
motor->m_motor_released = false;
motor->m_state = MC_STATE_RUNNING;
}
}