BLDC motor driver
Dependencies: mbed-dev-f303 FastPWM3
Diff: Calibration/calibration.cpp
- Revision:
- 26:2b865c00d7e9
- Parent:
- 25:f5741040c4bb
- Child:
- 27:501fee691e0e
--- a/Calibration/calibration.cpp Sun Apr 09 03:05:52 2017 +0000 +++ b/Calibration/calibration.cpp Mon May 01 15:22:58 2017 +0000 @@ -31,7 +31,8 @@ //ps->ZeroPosition(); ps->Sample(); wait_us(1000); - float theta_start = ps->GetMechPosition(); //get initial rotor position + //float theta_start = ps->GetMechPosition(); //get initial rotor position + float theta_start; controller->i_b = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset); //Calculate phase currents from ADC readings controller->i_c = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset); controller->i_a = -controller->i_b - controller->i_c; @@ -49,6 +50,7 @@ TIM1->CCR1 = 0x708*(1.0f-dtc_w); ps->Sample(); //sample position sensor theta_actual = ps->GetMechPosition(); + if(theta_ref==0){theta_start = theta_actual;} if(sample_counter > 200){ sample_counter = 0 ; printf("%.4f %.4f\n\r", theta_ref/(NPP), theta_actual); @@ -107,6 +109,7 @@ controller->i_a = -controller->i_b - controller->i_c; dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q); //dq0 transform on currents float current = sqrt(pow(controller->i_d, 2) + pow(controller->i_q, 2)); + printf(" Current Angle : Rotor Angle : Raw Encoder \n\r\n\r"); for(int i = 0; i<n; i++){ // rotate forwards for(int j = 0; j<n2; j++){ theta_ref += delta; @@ -131,7 +134,7 @@ printf("%.4f %.4f %d\n\r", theta_ref/(NPP), theta_actual, raw_f[i]); //theta_ref += delta; } - printf(" Current Angle : Rotor Angle : Raw Encoder \n\r\n\r"); + for(int i = 0; i<n; i++){ // rotate backwards for(int j = 0; j<n2; j++){ theta_ref -= delta; @@ -208,6 +211,7 @@ } lut[ind] = (int) ((error_filt[i*NPP] - mean)*(float)(ps->GetCPR())/(2.0f*PI)); printf("%d %d %d %f\n\r", i, ind, lut[ind], cogging_current[i]); + wait(.001); } ps->WriteLUT(lut); // write lookup table to position sensor object