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fix: HybridStepper: center around supply voltage #536

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fix: HybridStepper: center around supply voltage #536

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10 changes: 4 additions & 6 deletions src/HybridStepperMotor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -134,7 +134,7 @@ float HybridStepperMotor::estimateBEMF(float vel){
// Function implementing Sine PWM and SVPWM algorithms
void HybridStepperMotor::setPhaseVoltage(float Uq, float Ud, float angle_el)
{
float center;
const float center = fminf(driver->voltage_power_supply, driver->voltage_limit) / 2;
float _sa, _ca;

_sincos(angle_el, &_sa, &_ca);
Expand All @@ -152,8 +152,6 @@ void HybridStepperMotor::setPhaseVoltage(float Uq, float Ud, float angle_el)
Ua = (_ca * Ud) - (_sa * Uq);
Ub = (_sa * Ud) + (_ca * Uq);

center = driver->voltage_limit / 2;

Ua += center;
Ub += center;
Uc = center;
Expand All @@ -164,9 +162,9 @@ void HybridStepperMotor::setPhaseVoltage(float Uq, float Ud, float angle_el)
Ua = (_ca * Ud) - (_sa * Uq);
Ub = (_sa * Ud) + (_ca * Uq);

float Umin = fmin(fmin(Ua, Ub), 0);
float Umax = fmax(fmax(Ua, Ub), 0);
float Vo = -(Umin + Umax)/2 + driver->voltage_limit/2;
const float Umin = fminf(fminf(Ua, Ub), 0);
const float Umax = fmaxf(fmaxf(Ua, Ub), 0);
const float Vo = center - (Umin + Umax) / 2;

Ua = Ua + Vo;
Ub = Ub + Vo;
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