Chun Feng Huang / CURRENT_CONTROL

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Fork of CURRENT_CONTROL by LDSC_Robotics_TAs

Files at this revision

API Documentation at this revision

Revision 11:31cd02611cd0, committed 2016-12-22

Comitter:
benson516
Date:
Thu Dec 22 19:22:59 2016 +0000
Parent:
10:9f5f4a22346c
Child:
12:085f35babe21
Commit message:
Current control - done

Changed in this revision

CURRENT_CONTROL.cpp Show annotated file Show diff for this revision Revisions of this file
CURRENT_CONTROL.h Show annotated file Show diff for this revision Revisions of this file 
--- a/CURRENT_CONTROL.cpp	Wed Dec 21 18:45:23 2016 +0000
+++ b/CURRENT_CONTROL.cpp	Thu Dec 22 19:22:59 2016 +0000
@@ -51,7 +51,7 @@
     MotorMinus(PwmChannel2),
     wheelSpeed(QEI_A, QEI_B, NC, pulsesPerRev, arraysize, samplingTime, QEI::X4_ENCODING), //(pin1, pin2, pin3, pulsesPerRev, arraysize, sampletime, pulses)
     pid(0.0,0.0,0.0,samplingTime),
-    lpFilter(samplingTime, 100.0) // 1.5915 Hz = 10 rad/s
+    lpFilter(samplingTime, 70.0) // 1.5915 Hz = 10 rad/s
 
     
 {
@@ -208,7 +208,7 @@
 
 // Control
 ///////////////////////////////////////////////////////////
-void CURRENT_CONTROL::Control(float curRef)
+void CURRENT_CONTROL::Control(float curRef, bool enable)
 {
     // Init check
     OffsetInit();
@@ -231,8 +231,11 @@
     // voltage_out = 0.0 + func_back_emf(angularSpeed); 
     
     // Output saturation and unit changing
-    SetVoltage(voltage_out);
     
+    if (enable)
+        SetVoltage(voltage_out);
+    else
+        SetVoltage(0.0);
     
     //--------------------------------//
     

--- a/CURRENT_CONTROL.h	Wed Dec 21 18:45:23 2016 +0000
+++ b/CURRENT_CONTROL.h	Thu Dec 22 19:22:59 2016 +0000
@@ -53,7 +53,7 @@
     //
     void OffsetInit(void);
     float saturation(float input_value, float &delta, const float &limit_H, const float &limit_L);
-    void Control(float curRef);
+    void Control(float curRef, bool enable);
         
     // Back emf as the function of rotational speed
     float func_back_emf(const float &W_in);