Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

CHANGELOG.txt@184:633119bb0b77, 2018-02-09 (annotated)

Committer:
bwang
Date:
Fri Feb 09 21:02:14 2018 +0000
Revision:
184:633119bb0b77
Parent:
183:73ff4a68565e
Child:
187:523cf8c962e4
02/09/2018 16:01 - moved pinouts to layout.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 130:639cd8586f86 1 04/30/2017 02:45 - added CHANGELOG.txt
bwang 131:031df63c7dbc 2 04/30/2017 04:51 - non-saturating tables, 8KW out to 600 rad/s. Extremely high top speed (1500 rad/s). code changes: removed a bunch of debug variables and commented-out code
bwang 132:101b74e4763a 3 05/01/2017 00:04 - added some decoupling terms, which may or may not work.
bwang 135:63ef59eb7f2a 4 05/01/2017 01:21 - driving code, 0.7g, achieved 40mph. Has throttle filtering
bwang 136:607bdeb17e2f 5 05/01/2017 03:17 - changed throttle limits to match 56k pulldown; relaxed THROTTLE_CRAZY bounds a bit
bwang 137:54c47ef47bbb 6 05/01/2017 06:40 - more tweaks to throttle limits
bwang 139:d5ef8d1936f8 7 05/01/2017 07:21 - rising edge from disabled state now resets usec count in PwmIn
bwang 140:170411d158b5 8 05/01/2017 07:58 - W_CRAZY limit bumped up, never an issue on the road but may behave strangely on the bench
bwang 142:0e0a164feb4c 9 05/01/2017 08:13 - enabled->disabled now resets usec count in PwmIn
bwang 143:a7a0c9d70e8a 10 05/01/2017 09:00 - bumped up THROTTLE_LOW from 1020 to 1050
bwang 144:a9e7fa1c98d7 11 05/02/2017 06:54 - fast logging is now back to logging vd, vq instead of decoupling terms
bwang 145:37ffa3ba3862 12 05/03/2017 08:24 - added circular buffer code
bwang 146:296bcc30e65d 13 05/03/2017 08:27 - CircularBuffer moved to its own .cpp file
bwang 147:c1b2379b8874 14 05/03/2017 08:36 - added median and moving average filters
bwang 148:9bca96f7be5c 15 05/03/2017 09:26 - added use_median option to circular buffers (since average filters may not want to recalculate the median every sample)
bwang 149:c51c0258c923 16 05/03/2017 09:39 - indexing bugfix in median code
bwang 151:5bbb15351798 17 05/04/2017 08:53 - added fast path for median-of-3
bwang 152:6877dceec871 18 05/04/2017 10:33 - removed throttle_crazy checks as these lead to dangerous behavior; beginnings of new filter code in main.cpp
bwang 154:0a22dcf91577 19 05/04/2017 11:14 - removed w_crazy checks, switched velocity to median filtering
bwang 155:7c6005933d4c 20 05/04/2017 12:44 - moved median filter objects to ControlStruct, is_driving() now checks % torque cmd instead of raw throttle value
bwang 156:cf92f967983d 21 05/04/2017 13:34 - changed logic in PwmIn::handle_fall, which no longer resets timer on invalid edges
bwang 157:a9b2002994d5 22 05/04/2017 17:16 - encoder class now sets TIM->ARR to CPR - 1
bwang 159:9dbc0657238c 23 05/07/2017 13:36 - added overmodulation option to config_loop
bwang 162:126dc3bc17f3 24 05/07/2017 13:42 - bugfix in constrain_norm(), which previously stepped from max to 1 magnitude when limiting kicked in
bwang 165:2463dbe52eee 25 07/01/2017 18:32 - added AutoMapper, AutoThrottleMapper classes for automated stall testing; parameters in this commit are currently connfigured for driving
bwang 166:4637785ba01e 26 09/04/2017 03:08 - added delay between startup and PwmIn creation in BREMSConfig.cpp to avoid power switch bounce induced lockups during logic power-on
bwang 177:f1aaaf0f9466 27 09/05/2017 04:57 - formatting fix
bwang 181:d3510c8beab6 28 02/07/2018 20:59 - new InvertingThrottleMapper, InterpolatingLutMapper classes. blended, smaller tables. BufferedLogger logging class
bwang 181:d3510c8beab6 29 02/08/2018 22:03 - integrated BufferedLogger into motor control code, logger and commutation both run (but validity of logged data is untested)
bwang 182:5ed20e4ce158 30 02/08/2018 22:48 - integrated CommandProcessor and PreferenceWriter (but code does not use dynamic config variables or set error flags yet)
bwang 183:73ff4a68565e 31 02/09/2018 14:28 - check for valid config in BREMSConfig.cpp is now 'if (PREFS_VALID != 1)', as flash bytes default to 0xFF
bwang 184:633119bb0b77 32 02/09/2018 15:22 - added functionality to disable logging during long UI operations (flash write)
bwang 184:633119bb0b77 33 02/09/2018 16:01 - moved pinouts to layout.h