From 384c878a4cd0fe345326464dd1224aea61a07447 Mon Sep 17 00:00:00 2001 From: Shobuj Paul <72087882+Shobuj-Paul@users.noreply.github.com> Date: Fri, 23 Feb 2024 11:08:08 +0000 Subject: [PATCH] Updating bemf observer for a more general implementation --- include/observers/bemf_observer.hpp | 6 +++--- src/observers/bemf_observer.cpp | 11 +++++------ 2 files changed, 8 insertions(+), 9 deletions(-) diff --git a/include/observers/bemf_observer.hpp b/include/observers/bemf_observer.hpp index 1313718..284afd3 100644 --- a/include/observers/bemf_observer.hpp +++ b/include/observers/bemf_observer.hpp @@ -28,8 +28,8 @@ class BemfObserver const SetBemfParams& set_bemf_params, const SetTrackerParams& set_tracker_params, const ExtBemfParams& ext_bemf_params, - const ExtTrackerParams& ext_tracker_params, const uint8_t pos_obs_mode, - const uint8_t idle_mode, const uint8_t opmode, const uint8_t num_rotor_poles, - const uint8_t freq_mode, const bool force_bemf, const bool en_dis_6_step_comm); + const ExtTrackerParams& ext_tracker_params, + const uint8_t idle_mode, const uint8_t num_rotor_poles, + const bool force_bemf, const bool en_dis_6_step_comm); }; } // namespace observers diff --git a/src/observers/bemf_observer.cpp b/src/observers/bemf_observer.cpp index 658e21b..bfe4cf4 100644 --- a/src/observers/bemf_observer.cpp +++ b/src/observers/bemf_observer.cpp @@ -9,9 +9,9 @@ observers::BemfOutput observers::BemfObserver::loop(const math::FrameABC& line_c const SetBemfParams& set_bemf_params, const SetTrackerParams& set_tracker_params, const ExtBemfParams& ext_bemf_params, - const ExtTrackerParams& ext_tracker_params, const uint8_t pos_obs_mode, - const uint8_t idle_mode, const uint8_t opmode, const uint8_t num_rotor_poles, - const uint8_t freq_mode, const bool force_bemf, const bool en_dis_6_step_comm) + const ExtTrackerParams& ext_tracker_params, + const uint8_t idle_mode, const uint8_t num_rotor_poles, + const bool force_bemf, const bool en_dis_6_step_comm) { observers::BemfOutput output; @@ -39,11 +39,11 @@ observers::BemfOutput observers::BemfObserver::loop(const math::FrameABC& line_c } dq_update.gains = observers::BemfGains(0.0001, 0.0001, 0.1, Ts, 0); - dq_update.config = [freq_mode, opmode, this]() { + dq_update.config = [this]() { controllers::PIConfig config = { 0.1, 0.1, Ts, -180, 180 }; return config; }(); - tracker.config = [freq_mode, opmode, this]() { + tracker.config = [this]() { controllers::PIConfig config = { 0.1, 0.1, Ts, -180, 180 }; return config; }(); @@ -100,7 +100,6 @@ observers::BemfOutput observers::BemfObserver::loop(const math::FrameABC& line_c }(); // Bemf Stability SMD - if (pos_obs_mode == 2) {} if (idle_mode) {} if (force_bemf) {}