Diff: main.h

Revision:

0:f3cf9865b7be

Child:

1:24b7ab90081a

diff -r 000000000000 -r f3cf9865b7be main.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.h	Fri Jan 16 10:47:17 2015 +0000
@@ -0,0 +1,91 @@
+#ifndef MAIN_H
+#define MAIN_H
+
+// System
+#define ENABLE_COGGING_COMPENSATION     1
+#define ENABLE_POSITION_COMPENSATION    1
+#define ENABLE_FRICTION_COMPENSATION    1
+// Torque Controller
+#define TORQUE_CONTROLLER_INTERVAL_US   100
+#define TORQUE_CONTROLLER_INTERVAL_INV  10000
+#define TORQUE_LIMIT                    2.0f
+#define POSITION_RESOLUTION             8192
+#define POSITION_ANTIALIAS              4096
+#define ELECTRICAL_POSITION_TO_RAD      0.038349f   // 2*pi/(8192/50)
+// Friction Model
+#define COULOMB_VELOCITY_CONST          9.0f
+#define STRIBECK_VELOCITY_CONST         0.5f
+#define COULOMB_FRICTION                0.058f
+#define STRIBECK_FRICTION               0.060f
+#define VISCOUS_FRICTION_COEF_FWD       (float)2.65e-3 //2.16561e-3
+#define VISCOUS_FRICTION_COEF_REV       (float)2.55e-3 //2.16561e-3
+#define ENABLE_DITHER                   0
+#define DITHER_FORCE                    0.02f
+#define DITHER_TICKS                    70
+// Current Controller
+#define CURRENT_CONTROLLER_KP           1.0f
+#define CURRENT_CONTROLLER_KI           7500.0f
+#define CURRENT_CONTROLLER_I_LIMIT      0.0001f
+// Function-likes
+#define GET_POSITION()                  ((int)(spi.write(0xFFFF) & 0x1FFF))
+#define GET_CURRENT_A()                 (-6.6f*(current_sensor_a.read() - current_sensor_a_offset))
+#define GET_CURRENT_B()                 (-6.6f*(current_sensor_b.read() - current_sensor_b_offset))
+#define LOWPASSIIR(v,i,w)               v+=w*(i-v)
+#define SGN(x)                          (x > 0 ? 1 : (x < 0 ? -1 : 0))
+#define ABSPOS()                        (position - position_ref + 8192*position_offset_count)  // dont forget POSITION_RESOLUTION
+// Speed estimator
+#define SPEED_ESTIMATOR_FAST_GAIN       50
+#define SPEED_ESTIMATOR_DEADBAND        1
+#define SPEED_ESTIMATOR_FILTER          0.02f
+#define SAMPLE_TIME_US                  100
+#define SAMPLE_TIME_INVERSE_S           10000.0f
+
+// Current Controller Variables
+float       current_sensor_a_offset = 0;
+float       current_sensor_b_offset = 0;
+// Torque Controller Variables
+float       torque = 0;
+float       speed;
+float       acceleration;
+int32_t     position;
+int         position_offset_count = 0;
+int         position_ref;
+int         dither_tick = 0;
+// Impedance controller variables
+float       ZControl_K  = 0;
+float       ZControl_B  = 0;
+float       ZControl_I  = 0;
+int         ZControl_RefPos = 0;
+
+// IO Variables
+USBHID      hid(16,16);
+HID_REPORT  send_report;
+HID_REPORT  recv_report;
+DigitalIn   user_btn(p23);
+SPI         spi(NC, p6, p7);  
+Serial      pc(USBTX, USBRX);
+AnalogIn    current_sensor_a(p15);
+AnalogIn    current_sensor_b(p16);
+PwmOut      driver_1a(p28);
+PwmOut      driver_2a(p27);
+PwmOut      driver_1b(p26);
+PwmOut      driver_2b(p25);
+DigitalOut  driver_enable_a(p34);
+DigitalOut  driver_enable_b(p33);
+PwmOut      driver_vref_ab(p29);
+DigitalOut  info_led_1(LED1);
+DigitalOut  info_led_2(LED2);
+DigitalOut  info_led_3(LED3);
+DigitalOut  info_led_4(LED4);
+// Ticker Variables
+Ticker      torque_controller;
+Ticker      hid_controller;
+
+// Function declarations
+void calibrate_current_sensor();
+void calibrate_position();
+void initialize_io();
+void torque_control();
+void hid_control();
+
+#endif
\ No newline at end of file