Diff: CURRENT_CONTROL.h

Revision:

7:6794cfba3564

Parent:

6:bae35ca64f10

Child:

8:fd6fb3cb12ec

--- a/CURRENT_CONTROL.h	Thu Dec 15 23:16:09 2016 +0000
+++ b/CURRENT_CONTROL.h	Mon Dec 19 13:26:05 2016 +0000
@@ -19,11 +19,15 @@
     
     LPF(float samplingTime, float cutOff_freq_Hz_in); // cutOff_freq_Hz_in is in "Hz"
     float filter(float input);
+    void reset(float input);
     
 private:
     float Ts;    
     float cutOff_freq_Hz; // Hz
     float alpha_Ts;
+    
+    // Flag
+    bool Flag_Init;
 };
 
 
@@ -36,6 +40,7 @@
     } PWMIndex;
 
     CURRENT_CONTROL(PinName curChannel, PinName PwmChannel1, PinName PwmChannel2, PWMIndex pwmIndex, float Kp, float Ki, float Kd, float Ka, float samplingTime);
+    void OffsetInit(void);
     void SetParams(float Analog2Cur, float angSpeed2BackEmf, float voltage2DutyRatio);
     float saturation(float input_value, float &delta, const float &limit_H, const float &limit_L);
     void Control(float curRef, float speed);
@@ -57,15 +62,19 @@
     PwmOut MotorMinus;
     
     //
-    float delta_output;
-    float controlOutput;
+    // float controlOutput;
     float currentOffset;
     float curFeedBack;
+    float curFeedBack_filter;
+    //
+    float voltage_out;
+    float delta_output;
     
     //
     AnalogIn currentAnalogIn;
     float analogInValue;
-    //
+    
+    // Ratio for units transformation
     float analog2Cur;
     float voltage2Duty;
     
@@ -75,6 +84,10 @@
     //
     LPF lpFilter;
     
+    // Initialization
+    bool Flag_Init;
+    int Init_count;
+    float Accumulated_offset;
 
     
 private: