ROBOSTEP_5期 / Hobbyking_Cheetah_Compact_DRV8323

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Dependencies:   mbed-dev-f303 FastPWM3

CurrentRegulator/CurrentRegulator.h@9:d7eb815cb057, 2016-05-10 (annotated)

Committer:
benkatz
Date:
Tue May 10 01:15:57 2016 +0000
Revision:
9:d7eb815cb057
Parent:
8:10ae7bc88d6e
Child:
10:370851e6e132
Fixed current scaling hack

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 9:d7eb815cb057 1 #ifndef CURRENTREGULATOR_H
benkatz 0:4e1c4df6aabd 2 #define CURRENTREGULATOR_H
benkatz 9:d7eb815cb057 3
benkatz 0:4e1c4df6aabd 4 #include "Inverter.h"
benkatz 0:4e1c4df6aabd 5 #include "SVM.h"
benkatz 0:4e1c4df6aabd 6 #include "PositionSensor.h"
benkatz 0:4e1c4df6aabd 7
benkatz 0:4e1c4df6aabd 8 class CurrentRegulator{
benkatz 0:4e1c4df6aabd 9 public:
benkatz 0:4e1c4df6aabd 10 CurrentRegulator(Inverter *inverter, PositionSensor *position_sensor, float Kp, float Ki);
benkatz 0:4e1c4df6aabd 11 void UpdateRef(float D, float Q);
benkatz 0:4e1c4df6aabd 12 void Commutate();
benkatz 9:d7eb815cb057 13 void Reset();
benkatz 0:4e1c4df6aabd 14 private:
benkatz 5:51c6560bf624 15 float IQ_Ref, ID_Ref, V_Q, V_D, V_Alpha, V_Beta, V_A, V_B, V_C, I_Q, I_D, I_A, I_B, I_C, I_Alpha, I_Beta, theta_elec, _Kp, _Ki;
benkatz 9:d7eb815cb057 16 float Q_Integral, D_Integral, Q_Error, D_Error, Int_Max, DTC_Max, Q_Max;
benkatz 0:4e1c4df6aabd 17 void SampleCurrent();
benkatz 0:4e1c4df6aabd 18 void SetVoltage();
benkatz 0:4e1c4df6aabd 19 void Update();
benkatz 4:c023f7b6f462 20 void SendSPI();
benkatz 0:4e1c4df6aabd 21 Inverter* _Inverter;
benkatz 0:4e1c4df6aabd 22 PositionSensor* _PositionSensor;
benkatz 6:4ee1cdc43aa8 23 SVM* PWM;
benkatz 8:10ae7bc88d6e 24 Serial* pc;
benkatz 8:10ae7bc88d6e 25 int count;
benkatz 0:4e1c4df6aabd 26
benkatz 0:4e1c4df6aabd 27
benkatz 0:4e1c4df6aabd 28
benkatz 0:4e1c4df6aabd 29 };
benkatz 0:4e1c4df6aabd 30
benkatz 0:4e1c4df6aabd 31
benkatz 0:4e1c4df6aabd 32 #endif