Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

Transforms/Transforms.cpp@10:370851e6e132, 2016-05-12 (annotated)

Committer:
benkatz
Date:
Thu May 12 05:02:52 2016 +0000
Revision:
10:370851e6e132
Parent:
7:dc5f27756e02
Child:
14:80ce59119d93
Now featuring hobbyking startup tone!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 0:4e1c4df6aabd 1 #include "mbed.h"
benkatz 0:4e1c4df6aabd 2 #include "Transforms.h"
benkatz 0:4e1c4df6aabd 3 #include "FastMath.h"
benkatz 0:4e1c4df6aabd 4
benkatz 0:4e1c4df6aabd 5 using namespace FastMath;
benkatz 0:4e1c4df6aabd 6
benkatz 0:4e1c4df6aabd 7 void Transforms::Park(float alpha, float beta, float theta, float *d, float *q){
benkatz 7:dc5f27756e02 8 //float cosine = cos(theta);
benkatz 7:dc5f27756e02 9 //float sine = sin(theta);
benkatz 7:dc5f27756e02 10 float cosine = FastCos(theta);
benkatz 7:dc5f27756e02 11 float sine = FastSin(theta);
benkatz 10:370851e6e132 12 *d = alpha*cosine - beta*sine; //This is a hack - effectively using -beta instead of beta
benkatz 10:370851e6e132 13 *q = -beta*cosine - alpha*sine; //I think because I'm using pi as the d axis offset instead of zero, but I need to investigate more.
benkatz 5:51c6560bf624 14 //*d = alpha*cosine + beta*sine;
benkatz 5:51c6560bf624 15 //*q = beta*cosine - alpha*sine;
benkatz 0:4e1c4df6aabd 16 //DAC->DHR12R1 = (int) (*q*49.648f) + 2048;
benkatz 0:4e1c4df6aabd 17 //DAC->DHR12R1 = (int) (*q*2048.0f) + 2048;
benkatz 0:4e1c4df6aabd 18 }
benkatz 0:4e1c4df6aabd 19
benkatz 0:4e1c4df6aabd 20 void Transforms::InvPark(float d, float q, float theta, float *alpha, float *beta){
benkatz 7:dc5f27756e02 21 //float cosine = cos(theta);
benkatz 7:dc5f27756e02 22 //float sine = sin(theta);
benkatz 7:dc5f27756e02 23 float cosine = FastCos(theta);
benkatz 7:dc5f27756e02 24 float sine = FastSin(theta);
benkatz 0:4e1c4df6aabd 25 *alpha = d*cosine - q*sine;
benkatz 0:4e1c4df6aabd 26 *beta = q*cosine + d*sine;
benkatz 0:4e1c4df6aabd 27 }
benkatz 0:4e1c4df6aabd 28
benkatz 0:4e1c4df6aabd 29 void Transforms::Clarke(float a, float b, float *alpha, float *beta){
benkatz 0:4e1c4df6aabd 30 *alpha = a;
benkatz 0:4e1c4df6aabd 31 *beta = 0.57735026919f*(a + 2.0f*b);
benkatz 0:4e1c4df6aabd 32 }
benkatz 0:4e1c4df6aabd 33
benkatz 0:4e1c4df6aabd 34 void Transforms::InvClarke(float alpha, float beta, float *a, float *b, float *c){
benkatz 0:4e1c4df6aabd 35 *a = alpha;
benkatz 0:4e1c4df6aabd 36 *b = 0.5f*(-alpha + 1.73205080757f*beta);
benkatz 0:4e1c4df6aabd 37 *c = 0.5f*(-alpha - 1.73205080757f*beta);
benkatz 0:4e1c4df6aabd 38 }
benkatz 0:4e1c4df6aabd 39