Ikhee Jo / T-Motor_AK80_BaseCode

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Dependencies:   mbed-dev-f303 FastPWM3

CurrentRegulator/CurrentRegulator.h

Committer:
benkatz
Date:
2016-05-22
Revision:
12:c473a25f54f7
Parent:
11:c83b18d41e54
Child:
14:80ce59119d93

File content as of revision 12:c473a25f54f7:

#ifndef CURRENTREGULATOR_H
#define CURRENTREGULATOR_H

#include "Inverter.h"
#include "SVM.h"
#include "PositionSensor.h"

class CurrentRegulator{
    public:
        CurrentRegulator(Inverter *inverter, PositionSensor *position_sensor, PositionSensor *velocity_sensor, float L, float Kp, float Ki);
        void UpdateRef(float D, float Q);
        void Commutate();
        void Reset();
        virtual float GetQ();
    private:
        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, _L;
        float Q_Integral, D_Integral, Q_Error, D_Error, Int_Max, DTC_Max, Q_Max;
        void SampleCurrent();
        void SetVoltage();
        void Update();
        void SendSPI();
        Inverter* _Inverter;
        PositionSensor* _PositionSensor;
        PositionSensor* _VelocitySensor;
        SVM* PWM;
        //Serial* pc;
        int count;
            
    
    
    };
    
    
#endif