before changing to soft iic

3rd/config.h

@@ -1,7 +1,7 @@
 #ifndef CONFIG_H
 #define CONFIG_H
 
-#define DEBUG_ENABLED false
+#define DEBUG_ENABLED true
 #define DEBUG_MT_ENABLED false
 #define DEBUG_DFOC_ENABLED false
 #endif

3rd/dfoc.c

@@ -129,9 +129,9 @@ void Set_Angle(float Target)
     {
         printf("angle readback in dfoc.c is %f \n", langle);
     }
-    volatile float Uq = PID_Controller(0.133, 0.01, 0, (Target - Dir * langle) * 180 / PI);
+    volatile float Uq = PID_Controller(0.067, 0.01, 0, (Target - Dir * langle) * 180 / PI);
     //volatile float Uq = PID_Controller(0.06, 0, 0, (Target - Dir * langle) * 180 / PI);
-    if(DEBUG_ENABLED)
+    if(DEBUG_ENABLED& DEBUG_DFOC_ENABLED)
     {
         printf("Uq is %f \n", Uq);
     }

3rd/pid_control.c

@@ -1,6 +1,6 @@
 #include <stdint.h>
 #include <ti_msp_dl_config.h>
-#define  limit            6.3
+#define  limit            5.0
 #define  Output_ramp      10000
 
 //限幅

empty.c

@@ -54,13 +54,13 @@ volatile float Target = 0; //串口目标值
 
 
 const int pp = 7; //电机极对数
-const int Dir = 1; //电机编码器方向
+const int Dir = -1; //电机编码器方向
 
 
-#define UART_PACKET_SIZE (4)
+#define UART_PACKET_SIZE (6)
 
 /* Data received from UART */
-volatile uint8_t gUartRxPacket[UART_PACKET_SIZE] ={'a','b','c','d'};
+volatile uint8_t gUartRxPacket[UART_PACKET_SIZE] ={'a','b','c','d','e','f'};
 
 volatile bool gCheckUART;
 
@@ -135,7 +135,7 @@ int main(void)
 					parse_uart_cmd();
 					Set_Angle(Target);
 				}
-				//delay_ms(10);
+				delay_ms(10);
 
 
     }