Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

Transforms/Transforms.cpp@0:4e1c4df6aabd, 2016-02-05 (annotated)

Committer:
benkatz
Date:
Fri Feb 05 00:52:53 2016 +0000
Revision:
0:4e1c4df6aabd
Child:
1:b8bceb4daed5
It works!

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 0:4e1c4df6aabd 8 float cosine = cos(theta);
benkatz 0:4e1c4df6aabd 9 float sine = sin(theta);
benkatz 0:4e1c4df6aabd 10 //float a = sine;
benkatz 0:4e1c4df6aabd 11 //float b = cosine;
benkatz 0:4e1c4df6aabd 12 *d = alpha*cosine - beta*sine;
benkatz 0:4e1c4df6aabd 13 *q = -beta*cosine - alpha*sine;
benkatz 0:4e1c4df6aabd 14 //DAC->DHR12R1 = (int) (*q*49.648f) + 2048;
benkatz 0:4e1c4df6aabd 15 //DAC->DHR12R1 = (int) (*q*2048.0f) + 2048;
benkatz 0:4e1c4df6aabd 16 }
benkatz 0:4e1c4df6aabd 17
benkatz 0:4e1c4df6aabd 18 void Transforms::InvPark(float d, float q, float theta, float *alpha, float *beta){
benkatz 0:4e1c4df6aabd 19 float cosine = cos(theta);
benkatz 0:4e1c4df6aabd 20 float sine = sin(theta);
benkatz 0:4e1c4df6aabd 21 *alpha = d*cosine - q*sine;
benkatz 0:4e1c4df6aabd 22 *beta = q*cosine + d*sine;
benkatz 0:4e1c4df6aabd 23 }
benkatz 0:4e1c4df6aabd 24
benkatz 0:4e1c4df6aabd 25 void Transforms::Clarke(float a, float b, float *alpha, float *beta){
benkatz 0:4e1c4df6aabd 26 *alpha = a;
benkatz 0:4e1c4df6aabd 27 *beta = 0.57735026919f*(a + 2.0f*b);
benkatz 0:4e1c4df6aabd 28 }
benkatz 0:4e1c4df6aabd 29
benkatz 0:4e1c4df6aabd 30 void Transforms::InvClarke(float alpha, float beta, float *a, float *b, float *c){
benkatz 0:4e1c4df6aabd 31 *a = alpha;
benkatz 0:4e1c4df6aabd 32 *b = 0.5f*(-alpha + 1.73205080757f*beta);
benkatz 0:4e1c4df6aabd 33 *c = 0.5f*(-alpha - 1.73205080757f*beta);
benkatz 0:4e1c4df6aabd 34 }
benkatz 0:4e1c4df6aabd 35