Diff: ACS.cpp

Revision:

9:f66c57a01e05

Parent:

8:aad4f22221b1

--- a/ACS.cpp	Mon Jan 25 17:27:26 2016 +0000
+++ b/ACS.cpp	Wed Feb 03 18:41:17 2016 +0000
@@ -24,10 +24,15 @@
 DigitalOut phase_TR_x(PIN27); // PHASE pin for x-torquerod
 DigitalOut phase_TR_y(PIN28); // PHASE pin for y-torquerod
 DigitalOut phase_TR_z(PIN86); // PHASE pin for z-torquerod
+DigitalOut TRZ_EN(PIN88);    
 
-extern PwmOut PWM1; //x                         //Functions used to generate PWM signal 
-extern PwmOut PWM2; //y
-extern PwmOut PWM3; //z                         //PWM output comes from pins p6
+//extern PwmOut PWM1; //x                         //Functions used to generate PWM signal 
+//extern PwmOut PWM2; //y
+//extern PwmOut PWM3; //z                         //PWM output comes from pins p6
+
+PwmOut PWM1(PIN93); //x                         //Functions used to generate PWM signal 
+PwmOut PWM2(PIN94); //y
+PwmOut PWM3(PIN95); //z                         //PWM output comes from pins p6
 
 int g_err_flag_TR_x=0;       // setting x-flag to zero
 int g_err_flag_TR_y=0;       // setting y-flag to zero
@@ -451,6 +456,8 @@
 
 void  FCTN_ACS_INIT()
 {
+    
+    TRZ_EN = 1;
     ACS_INIT_STATUS = 's';     //set ACS_INIT_STATUS flag
     //FLAG();
     pc_acs.printf("Attitude sensor init called \n \r");
@@ -599,7 +606,9 @@
         l_moment_x = abs(l_moment_x);
     }
     
-    l_current_x = l_moment_x * TR_CONSTANT ;        //Moment and Current always have the linear relationship
+  //  l_current_x = l_moment_x * TR_CONSTANT ;    
+    
+    l_current_x = 0.153;       //Moment and Current always have the linear relationship
     pc_acs.printf("current in trx is %f \r \n",l_current_x);
     if( l_current_x>0 && l_current_x < 0.0016 ) //Current and Duty cycle have the linear relationship between 1% and 100%
     {
@@ -642,6 +651,8 @@
    float l_moment_y = Moment[1];         //Moment in y direction
     
     phase_TR_y = 1;  // setting the default current direction
+    
+    
     if (l_moment_y <0)
     {
         phase_TR_y = 0;   //if the moment value is negative, we send the abs value of corresponding current in opposite direction by setting the phase pin high  
@@ -649,7 +660,9 @@
     }
     
     
-    l_current_y = l_moment_y * TR_CONSTANT ;        //Moment and Current always have the linear relationship
+    //l_current_y = l_moment_y * TR_CONSTANT ;        //Moment and Current always have the linear relationship
+    
+    l_current_y = 0.153; 
      pc_acs.printf("current in try is %f \r \n",l_current_y);
         if( l_current_y>0 && l_current_y < 0.0016 ) //Current and Duty cycle have the linear relationship between 1% and 100%
     {
@@ -697,7 +710,9 @@
     }
     
     
-    l_current_z = l_moment_z * TR_CONSTANT ;        //Moment and Current always have the linear relationship
+   // l_current_z = l_moment_z * TR_CONSTANT ;        //Moment and Current always have the linear relationship
+   
+   l_current_z = 0.153; 
      pc_acs.printf("current in trz is %f \r \n",l_current_z);
         if( l_current_z>0 && l_current_z < 0.0016 ) //Current and Duty cycle have the linear relationship between 1% and 100%
     {
@@ -737,6 +752,10 @@
     
     printf("\n\rExited executable PWMGEN function\n\r"); // stating the successful exit of TR function
     
+    //PWM1 = 0.95;
+    //PWM2 = 0.95;
+    //PWM3 = 0.95;
+    
  
 }