Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol
Dependencies: mbed-dev-f303 FastPWM3
Superseded by: https://github.com/bgkatz/motorcontrol
Diff: structs.h
- Revision:
- 45:26801179208e
- Parent:
- 37:c0f352d6e8e3
- Child:
- 47:e1196a851f76
diff -r 8040fa2fcb0d -r 26801179208e structs.h --- a/structs.h Mon Jun 11 00:04:06 2018 +0000 +++ b/structs.h Wed Jun 27 03:44:44 2018 +0000 @@ -17,23 +17,25 @@ }COMStruct; typedef struct{ - int adc1_raw, adc2_raw, adc3_raw; - float i_a, i_b, i_c; - float v_bus; - float theta_mech, theta_elec; - float dtheta_mech, dtheta_elec, dtheta_elec_filt; - float i_d, i_q, i_q_filt; - float v_d, v_q; - float dtc_u, dtc_v, dtc_w; - float v_u, v_v, v_w; - float d_int, q_int; - int adc1_offset, adc2_offset; - float i_d_ref, i_q_ref; - int loop_count; - int timeout; + int adc1_raw, adc2_raw, adc3_raw; // Raw ADC Values + float i_a, i_b, i_c; // Phase currents + float v_bus; // DC link voltage + float theta_mech, theta_elec; // Rotor mechanical and electrical angle + float dtheta_mech, dtheta_elec, dtheta_elec_filt; // Rotor mechanical and electrical angular velocit + float i_d, i_q, i_q_filt; // D/Q currents + float v_d, v_q; // D/Q voltages + float dtc_u, dtc_v, dtc_w; // Terminal duty cycles + float v_u, v_v, v_w; // Terminal voltages + float k_d, k_q, ki_d, ki_q, alpha; // Current loop gains, current reference filter coefficient + float d_int, q_int; // Current error integrals + int adc1_offset, adc2_offset; // ADC offsets + float i_d_ref, i_q_ref, i_d_ref_filt, i_q_ref_filt; // Current references + float did_dt, diq_dt; // Current reference derivatives + int loop_count; // Degubbing counter + int timeout; // Watchdog counter int mode; - int ovp_flag; - float p_des, v_des, kp, kd, t_ff; + int ovp_flag; // Over-voltage flag + float p_des, v_des, kp, kd, t_ff; // Desired position, velocity, gians, torque float cogging[128]; } ControllerStruct;