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:
2016-02-19
Revision:
2:8724412ad628
Parent:
1:b8bceb4daed5
Child:
3:6a0015d88d06

File content as of revision 2:8724412ad628:

#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);
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) {
      inverter.SampleCurrent();
      }
  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){
    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);
    }
 */

       
int main() {
    wait(1);

    testing.attach(&Loop, .0001);
    //inverter.SetDTC(.2, .5, .97);
    //inverter.EnableInverter();

    while(1) {

    }
}