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@@ -4,14 +4,13 @@
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#if CONFIG_MOT_TYPE==MOTOR_BLUESHARK_ZD_100
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static motor_map_t mot_map[] = {
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- {1500, 200},
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- {2500, 130},
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- {3000, 110},
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- {3500, 100},
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- {4000, 90},
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- {4500, 80},
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- {5000, 70},
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- {5500, 60},
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+ {4500, 200},
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+ {4740, 170},
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+ {5050, 125},
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+ {5400, 85},
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+ {5740, 85},//5
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+ {6050, 90},//10
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+ {6430, 107},//16
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};
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#endif
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@@ -22,12 +21,12 @@ s16 get_max_torque_for_rpm(s16 rpm) {
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}
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for (int i = 1; i < ARRAY_SIZE(mot_map); i++) {
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if (rpm <= mot_map[i].rpm) { //线性插值
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- float max_trq = mot_map[i-1].torque;
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+ float trq1 = mot_map[i-1].torque;
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float min_rpm = mot_map[i-1].rpm;
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- float min_trq = mot_map[i].torque;
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+ float trq2 = mot_map[i].torque;
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float max_rpm = mot_map[i].rpm;
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- return (s16)f_map(rpm, min_rpm, max_rpm, min_trq, max_trq);
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+ return (s16)f_map(rpm, min_rpm, max_rpm, min(trq1, trq2), MAX(trq1, trq2));
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}
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}
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return mot_map[ARRAY_SIZE(mot_map)-1].torque;
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huhui