Motor control for robots. More compact, less object-oriented revision.

Dependencies:   FastPWM3 mbed-dev-f303

Fork of Hobbyking_Cheetah_V1 by Ben Katz

Revision:
2:8724412ad628
Parent:
1:b8bceb4daed5
Child:
3:6a0015d88d06
--- a/main.cpp	Fri Feb 05 01:04:57 2016 +0000
+++ b/main.cpp	Fri Feb 19 04:13:06 2016 +0000
@@ -7,17 +7,20 @@
 #include "CurrentRegulator.h"
 
 PositionSensorEncoder encoder(8192,0);
-Inverter inverter(PA_5, PB_10, PB_3, PB_7, 0.02014160156, 0.00005);
+//Inverter inverter(PA_5, PB_10, PB_3, PB_7, 0.02014160156, 0.00005);
+Inverter inverter(PA_8, PA_9, PA_10, PB_7, 0.02014160156, 0.00005);
 CurrentRegulator foc(&inverter, &encoder, .005, .5);
 
 Ticker  testing;
 
+
 using namespace FastMath;
 using namespace Transforms;
 
 //float offset = 0;//-0.24;
 
 // Current Sampling IRQ
+/*
 extern "C" void TIM2_IRQHandler(void) {
   // flash on update event
   if (TIM2->SR & TIM_SR_UIF & TIM2->CNT>0x465) {
@@ -25,6 +28,15 @@
       }
   TIM2->SR = 0x0; // reset the status register
 }
+*/
+extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
+  // toggle on update event
+  if (TIM1->SR & TIM_SR_UIF ) {
+      inverter.SampleCurrent();
+      }
+  TIM1->SR = 0x0; // reset the status register
+    //GPIOC->ODR ^= (1 << 4); //Toggle pin for debugging
+}
 
     
 void Loop(void){
@@ -44,9 +56,10 @@
     wait(1);
 
     testing.attach(&Loop, .0001);
+    //inverter.SetDTC(.2, .5, .97);
     //inverter.EnableInverter();
 
     while(1) {
-        
+
     }
 }