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

Dependencies:   FastPWM3 mbed-dev-f303

Fork of Hobbyking_Cheetah_V1 by Ben Katz

main.cpp

Committer:
benkatz
Date:
2016-02-05
Revision:
0:4e1c4df6aabd
Child:
1:b8bceb4daed5

File content as of revision 0:4e1c4df6aabd:

#include "mbed.h"
#include "PositionSensor.h"
#include "Inverter.h"
#include "SVM.h"
#include "FastMath.h"
#include "Transforms.h"
#include "CurrentRegulator.h"

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 i_d = 0;
float i_q = 1;
float v_d = 0;
float v_q = -.2;
float f;
float theta;
 */  
extern "C" void TIM2_IRQHandler(void) {
  // flash on update event
  if (TIM2->SR & TIM_SR_UIF & TIM2->CNT>0x465) {
      inverter.SampleCurrent();
      }
  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();
    }
/*
void voltage_foc(void){
    theta = encoder.GetElecPosition() + offset;
    InvPark(v_d, v_q, theta, &v_alpha, &v_beta);
    spwm.Update_DTC(v_alpha, v_beta);
    //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) {
        
    }
}