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

Dependencies:   FastPWM3 mbed-dev-f303

Fork of Hobbyking_Cheetah_V1 by Ben Katz

Revision:
1:b8bceb4daed5
Parent:
0:4e1c4df6aabd
Child:
2:8724412ad628
--- a/main.cpp	Fri Feb 05 00:52:53 2016 +0000
+++ b/main.cpp	Fri Feb 05 01:04:57 2016 +0000
@@ -8,29 +8,16 @@
 
 PositionSensorEncoder encoder(8192,0);
 Inverter inverter(PA_5, PB_10, PB_3, PB_7, 0.02014160156, 0.00005);
-
 CurrentRegulator foc(&inverter, &encoder, .005, .5);
 
 Ticker  testing;
-//SPWM spwm(&inverter, 2.0);
-
-//DigitalOut Dbg_pin(PA_15);
 
 using namespace FastMath;
 using namespace Transforms;
 
-float offset = 0;//-0.24;
-/*
-float v_alpha = 0;
-float v_beta = 0;
+//float offset = 0;//-0.24;
 
-float i_d = 0;
-float i_q = 1;
-float v_d = 0;
-float v_q = -.2;
-float f;
-float theta;
- */  
+// Current Sampling IRQ
 extern "C" void TIM2_IRQHandler(void) {
   // flash on update event
   if (TIM2->SR & TIM_SR_UIF & TIM2->CNT>0x465) {
@@ -39,14 +26,6 @@
   TIM2->SR = 0x0; // reset the status register
 }
 
-/*
-void PrintEncoder(void){
-    printf("%f\n\r", encoder.GetElecPosition());
-    //printf("%f\n\r", encoder.GetMechPosition());
-
-    //printf("%d\n\r", TIM3->CNT-0x8000);
-    }
-*/
     
 void Loop(void){
     foc.Commutate();
@@ -59,20 +38,12 @@
     //output.write(theta/6.28318530718f);
     }
  */
-/*
-void open_loop(void){
-    f = t.read();
-    v_alpha = 0.1f*sin(10.0f*f);
-    v_beta = 0.1f*cos(10.0f*f);
-    spwm.Update_DTC(v_alpha, v_beta);
-    }
-    */
+
        
 int main() {
     wait(1);
 
     testing.attach(&Loop, .0001);
-    
     //inverter.EnableInverter();
 
     while(1) {