zebra
zebra joint controller firmware (originally from MIT HKC motor controller by benkatz)
Revision 55:1c704b515383, committed 2021-02-05
- Comitter:
- kageyuta
- Date:
- Fri Feb 05 10:49:02 2021 +0000
- Parent:
- 54:59575833d16f
- Commit message:
- stable version
Changed in this revision
--- a/FOC/foc.cpp Thu Aug 08 17:39:43 2019 +0000
+++ b/FOC/foc.cpp Fri Feb 05 10:49:02 2021 +0000
@@ -147,6 +147,8 @@
}
controller->i_a = -controller->i_b - controller->i_c;
+ //printf("%f %f %f\r\n",controller->i_a, controller->i_b, controller->i_c);
+
float s = FastSin(theta);
float c = FastCos(theta);
dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q); //dq0 transform on currents
@@ -155,7 +157,7 @@
controller->i_q_filt = 0.95f*controller->i_q_filt + 0.05f*controller->i_q;
controller->i_d_filt = 0.95f*controller->i_d_filt + 0.05f*controller->i_d;
-
+ //printf("%f, %f, %f, %f, %f\r\n",controller->i_a, controller->i_b, controller->i_c, controller->i_d_filt, controller->i_q_filt);
// Filter the current references to the desired closed-loop bandwidth
controller->i_d_ref_filt = (1.0f-controller->alpha)*controller->i_d_ref_filt + controller->alpha*controller->i_d_ref;
@@ -224,5 +226,6 @@
//float torque_ref = -.1*(controller->p_des - controller->theta_mech);
controller->i_q_ref = torque_ref/KT_OUT;
controller->i_d_ref = 0.0f;
+ //printf("pos:%f vel:%f Kp:%f Kd:%f t_ff:%f\r\n",controller->p_des,controller->v_des,controller->kp,controller->kd,controller->t_ff);
}
\ No newline at end of file
--- a/main.cpp Thu Aug 08 17:39:43 2019 +0000
+++ b/main.cpp Fri Feb 05 10:49:02 2021 +0000
@@ -10,7 +10,7 @@
#define SETUP_MODE 4
#define ENCODER_MODE 5
-#define VERSION_NUM "1.9"
+#define VERSION_NUM "HKC1.9/ZEBRA1.0"
float __float_reg[64]; // Floats stored in flash
@@ -26,7 +26,7 @@
#include "current_controller_config.h"
#include "hw_config.h"
#include "motor_config.h"
-#include "stm32f4xx_flash.h"
+//#include "stm32f4xx_flash.h"
#include "FlashWriter.h"
#include "user_config.h"
#include "PreferenceWriter.h"
@@ -52,7 +52,7 @@
//DigitalOut drv_en_gate(PA_11);
DRV832x drv(&drv_spi, &drv_cs);
-PositionSensorAM5147 spi(16384, 0.0, NPP);
+PositionSensorAM5147 spi(8192, 0.0, NPP);
volatile int count = 0;
volatile int state = REST_MODE;
@@ -200,7 +200,7 @@
case MOTOR_MODE: // Run torque control
if(state_change){
enter_torque_mode();
- count = 0;
+ //count = 0;
}
else{
/*
@@ -226,7 +226,7 @@
commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
controller.timeout++;
- count++;
+ //count++;
}
break;
--- a/mbed-dev.lib Thu Aug 08 17:39:43 2019 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -https://os.mbed.com/users/benkatz/code/mbed-dev-f303/#36facd806e4a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Feb 05 10:49:02 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file