Foc refactoring #340
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Foc refactoring #340
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Fix Clarke transform for dual shunt
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Hey, you didn't include speed comparison, but I assume you compared it? Is there a performance impact? Looks great to me! |
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It is very similar: Before: After: |
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This is the refactoring I mentioned about here.
It prevents the code duplication in getDCcurrents and getfoccurrents, this will make future changes in the Clarke transform easier (e.g. using the best 2 phases)
getDQCurrents could be used when implementing FOC for stepper motors.
This shouldn't change how FOC works.