Diff: ControllerLoop.cpp

Revision:

1:a7fc1afe0575

Parent:

0:d2e117716219

Child:

2:c4c4cc1bff45

--- a/ControllerLoop.cpp	Sun May 02 19:32:30 2021 +0000
+++ b/ControllerLoop.cpp	Mon May 17 12:03:40 2021 +0000
@@ -21,6 +21,9 @@
 void ControllerLoop::loop(void){
     float w01=2*3.1415927 * 8;
     float xy[2];
+    float exc = 0;
+    PID_Cntrl vel_cntrl1(0.0158,3.17,0,0,Ts,-.8,.8); 
+    PID_Cntrl vel_cntrl2(0.0158,3.17,0,0,Ts,-.8,.8);
     while(1)
         {
         ThisThread::flags_wait_any(threadFlag);
@@ -47,14 +50,16 @@
             // calculate desired currents here, you can do "anything" here, 
             // if you like to refer to values e.g. from the gui or from the trafo,
             // please use data.xxx values, they are calculated 30 lines below
-
-            data.i_des[0] = data.i_des[1] =0.0;
+            float v_des1 = 10.0f*sinf(2.0f* 3.14159f*8.0f*ti.read());
+            float v_des2 = 10.0f*cosf(2.0f* 3.14159f*8.0f*ti.read());
+            data.i_des[0] = vel_cntrl1(v_des1 - data.sens_Vphi[0]);
+            data.i_des[1] = vel_cntrl2(v_des2 - data.sens_Vphi[1]);
         
             // ------------------------ write outputs
             i_des1.write(i2u(data.i_des[0]));
             i_des2.write(i2u(data.i_des[1]));
             // GPA: if you want to use the GPA, uncomment and improve following line:
-            // exc = myGPA(data.i_des[0],data.sens_Vphi[0]);
+            exc = myGPA(data.i_des[0],data.sens_Vphi[0]);
             
             // now do trafos etc