Diff: CURRENT_CONTROL.cpp

Revision:

1:c5973a56d474

Parent:

0:955aa05c968a

Child:

2:562bd14dfd3a

--- a/CURRENT_CONTROL.cpp	Fri Apr 22 09:39:01 2016 +0000
+++ b/CURRENT_CONTROL.cpp	Fri Apr 22 14:32:01 2016 +0000
@@ -2,31 +2,44 @@
 #include "CURRENT_CONTROL.h"
 
 
-void CURRENT_CONTROL::CURRENT_CONTROL(PinName curChannel,
-                                      PinName PwmChannel1,
-                                      PinName PwmChannel2,
-                                      PWMIndex pwmIndex,
-                                      float Kp, float Ki, float Kd,
-                                      float samplingTime):
-    currentAnalogIn(curChannel),
+CURRENT_CONTROL::CURRENT_CONTROL(PinName curChannel,
+                                 PinName PwmChannel1,
+                                 PinName PwmChannel2,
+                                 PWMIndex pwmIndex,
+                                 float Kp, float Ki, float Kd,
+                                 float samplingTime) : currentAnalogIn(curChannel),
     MotorPlus(PwmChannel1),
     MotorMinus(PwmChannel2),
     pid(Kp,Ki,Kd,samplingTime)
 {
-    PWMIndex = pwmIndex;
+    pwmIndex_ = pwmIndex;
+
     Ts = samplingTime;
     //setup motor PWM parameters
-    MotorPlus.period_us(50);//period equals to 50 microseconds
-    MotorPlus.write(0.5);   //duty ratio = 0.5 in complementary output -> static
-    TIM1->CCER |= 4; //enable ch1 complimentary output
+    MotorPlus.period_us(50);//default period equals to 50 microseconds
+    MotorPlus.write(0.5);   //duty ratio = 0.5 in complementary output mode -> static
+    if(pwmIndex_ == PWM1)TIM1->CCER |= 4;
+    else if(pwmIndex_ == PWM2)TIM1->CCER |= 64; //enable complimentary output
 
 }
 
-void CURRENT_CONTROL::ControlCompute(float curRef)
+void CURRENT_CONTROL::Control(float curRef)
 {
-    curFeedBack = (currentAnalogIn.read() - currentOffset)*3.3*8/0.6;
+    curFeedBack = (currentAnalogIn.read() - currentOffset)*analog2Cur;
     pid.Compute(curRef, curFeedBack);
     MotorPlus = 0.5 - pid.output;
-    if(PWMIndex == PWM1)TIM1->CCER |= 4;
-    else if(PWMIndex == PWM2)TIM1->CCER |= 64;
+    if(pwmIndex_ == PWM1)TIM1->CCER |= 4;
+    else if(pwmIndex_ == PWM2)TIM1->CCER |= 64;
+}
+
+void CURRENT_CONTROL::SetAnalog2Cur(float ratio)//LTS25-NP current sensor working with STM32F446RE : 3.3*8/0.6
+{
+    analog2Cur = ratio;
+}
+
+void CURRENT_CONTROL::SetPWMDuty(float ratio)
+{
+    MotorPlus = ratio;
+    if(pwmIndex_ == PWM1)TIM1->CCER |= 4;
+    else if(pwmIndex_ == PWM2)TIM1->CCER |= 64;
 }
\ No newline at end of file