closed loop test passed

empty.c

@@ -47,32 +47,39 @@ extern bool gIsI2cError;
 const float num_f = 0.123456f;
 
 volatile uint16_t count = 0  ;
-const float Target = 10.0; //串口目标值
+const float Target = 10; //串口目标值
 
 
-int pp = 7; //电机极对数
-int Dir = 1; //电机编码器方向
+const int pp = 7; //电机极对数
+const int Dir = -1; //电机编码器方向
 
 int main(void)
 {
     SYSCFG_DL_init();
     NVIC_EnableIRQ(UART_0_INST_INT_IRQN);
     DL_TimerA_startCounter(PWM_0_INST);
-		FOC_Init(12);
+    FOC_Init(12.6);
+    DL_SYSTICK_resetValue();
+
     while(1)
     {
         DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN);
         //delay_ms(10);
-        volatile float angle_rad = GetAngle();
-			if(DEBUG_ENABLED)
-			{
-				 printf("angle %.5f \n", angle_rad);
-			}
-       
-        //			volatile  uint32_t tick = DL_SYSTICK_getValue();
-        //			printf("systick is %x \n",tick);
-        velocityopenloop(Target);
 
+        if(DEBUG_ENABLED)
+        {
+            //volatile float angle_rad = GetAngle();
+            //printf("angle %.5f \n", angle_rad);
+        }
+        if(DEBUG_ENABLED)
+        {
+            volatile  uint32_t tick = DL_SYSTICK_getValue();
+            //printf("systick is %x \n",tick);
+        }
+        //开环
+        //velocityopenloop(Target);
+        //闭环
+        Set_Angle(Target);