Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

CurrentRegulator/CurrentRegulator.h@0:4e1c4df6aabd, 2016-02-05 (annotated)

Committer:
benkatz
Date:
Fri Feb 05 00:52:53 2016 +0000
Revision:
0:4e1c4df6aabd
Child:
4:c023f7b6f462
It works!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 0:4e1c4df6aabd 1 #ifndef CURRENTRETULATOR_H
benkatz 0:4e1c4df6aabd 2 #define CURRENTREGULATOR_H
benkatz 0:4e1c4df6aabd 3 #include "Inverter.h"
benkatz 0:4e1c4df6aabd 4 #include "SVM.h"
benkatz 0:4e1c4df6aabd 5 #include "PositionSensor.h"
benkatz 0:4e1c4df6aabd 6
benkatz 0:4e1c4df6aabd 7 class CurrentRegulator{
benkatz 0:4e1c4df6aabd 8 public:
benkatz 0:4e1c4df6aabd 9 CurrentRegulator(Inverter *inverter, PositionSensor *position_sensor, float Kp, float Ki);
benkatz 0:4e1c4df6aabd 10 void UpdateRef(float D, float Q);
benkatz 0:4e1c4df6aabd 11 void Commutate();
benkatz 0:4e1c4df6aabd 12 private:
benkatz 0:4e1c4df6aabd 13 float IQ_Ref, ID_Ref, V_Q, V_D, V_Alpha, V_Beta, I_Q, I_D, I_A, I_B, I_C, I_Alpha, I_Beta, theta_elec, _Kp, _Ki;
benkatz 0:4e1c4df6aabd 14 float Q_Integral, D_Integral, Q_Error, D_Error, Int_Max, DTC_Max;
benkatz 0:4e1c4df6aabd 15 void SampleCurrent();
benkatz 0:4e1c4df6aabd 16 void SetVoltage();
benkatz 0:4e1c4df6aabd 17 void Update();
benkatz 0:4e1c4df6aabd 18 Inverter* _Inverter;
benkatz 0:4e1c4df6aabd 19 PositionSensor* _PositionSensor;
benkatz 0:4e1c4df6aabd 20 SPWM* PWM;
benkatz 0:4e1c4df6aabd 21 int count;
benkatz 0:4e1c4df6aabd 22
benkatz 0:4e1c4df6aabd 23
benkatz 0:4e1c4df6aabd 24
benkatz 0:4e1c4df6aabd 25 };
benkatz 0:4e1c4df6aabd 26
benkatz 0:4e1c4df6aabd 27
benkatz 0:4e1c4df6aabd 28 #endif