Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Calibration/Calibration.cpp@191:66861311bdcd, 2018-02-10 (annotated)

Committer:
bwang
Date:
Sat Feb 10 03:42:07 2018 +0000
Revision:
191:66861311bdcd
Parent:
186:c18db1e31da6
Child:
196:7172e6e28867
02/09/2018 22:41 - removed ROW, COLUMNS from configurable values, for now. removed a bunch of extra #include's

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 117:97da9eb4300e 1 #include <math.h>
bwang 117:97da9eb4300e 2
bwang 117:97da9eb4300e 3 #include "BREMSStructs.h"
bwang 117:97da9eb4300e 4 #include "Calibration.h"
bwang 117:97da9eb4300e 5 #include "MathHelpers.h"
bwang 117:97da9eb4300e 6 #include "Transforms.h"
bwang 184:633119bb0b77 7
bwang 184:633119bb0b77 8 #include "layout.h"
bwang 185:5c102874b490 9 #include "derived.h"
bwang 191:66861311bdcd 10 #include "prefs.h"
bwang 117:97da9eb4300e 11
bwang 117:97da9eb4300e 12 //output is in modulation depth
bwang 117:97da9eb4300e 13 void abc(float theta, float vd, float vq, float *a, float *b, float *c) {
bwang 117:97da9eb4300e 14 float valpha, vbeta;
bwang 117:97da9eb4300e 15 float va, vb, vc, voff;
bwang 117:97da9eb4300e 16
bwang 117:97da9eb4300e 17 invpark(vd, vq, sinf(theta), cosf(theta), &valpha, &vbeta);
bwang 117:97da9eb4300e 18 invclarke(valpha, vbeta, &va, &vb);
bwang 117:97da9eb4300e 19 vc = -va - vb;
bwang 117:97da9eb4300e 20
bwang 117:97da9eb4300e 21 voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;//don't think about it
bwang 117:97da9eb4300e 22 va = va - voff;
bwang 117:97da9eb4300e 23 vb = vb - voff;
bwang 117:97da9eb4300e 24 vc = vc - voff;
bwang 117:97da9eb4300e 25
bwang 117:97da9eb4300e 26 *a = va;
bwang 117:97da9eb4300e 27 *b = vb;
bwang 117:97da9eb4300e 28 *c = vc;
bwang 117:97da9eb4300e 29 }
bwang 117:97da9eb4300e 30
bwang 118:2b6dab10b69d 31 void calibrate_position(IOStruct *io) {
bwang 117:97da9eb4300e 32 io->pc->printf("%s\n", "Starting calibration procedure");
bwang 117:97da9eb4300e 33
bwang 119:ad7a6af6fba3 34 const int n = (int) (128);
bwang 117:97da9eb4300e 35 const int n2 = 10;
bwang 117:97da9eb4300e 36
bwang 119:ad7a6af6fba3 37 float delta = 2 * PI / (n * n2);
bwang 117:97da9eb4300e 38
bwang 117:97da9eb4300e 39 float error_f[n] = {0};
bwang 117:97da9eb4300e 40 float error_b[n] = {0};
bwang 117:97da9eb4300e 41
bwang 117:97da9eb4300e 42 float theta_ref = 0.0f;
bwang 117:97da9eb4300e 43 float theta_actual = 0.0f;
bwang 119:ad7a6af6fba3 44 float theta_last = 0.0f;
bwang 119:ad7a6af6fba3 45 float rollover = 0.0f;
bwang 117:97da9eb4300e 46
bwang 118:2b6dab10b69d 47 float vd = 0.5f;
bwang 117:97da9eb4300e 48 float vq = 0.0f;
bwang 117:97da9eb4300e 49 float va, vb, vc = 0.0f;
bwang 117:97da9eb4300e 50
bwang 117:97da9eb4300e 51 abc(theta_ref, vd, vq, &va, &vb, &vc);
bwang 117:97da9eb4300e 52
bwang 117:97da9eb4300e 53 for (int i = 0; i < 40000; i++) {
bwang 157:a9b2002994d5 54 set_dtc(io->a, 0.5f + 0.5f * va * LINEAR_MODULATION_MAX);
bwang 157:a9b2002994d5 55 set_dtc(io->b, 0.5f + 0.5f * vb * LINEAR_MODULATION_MAX);
bwang 157:a9b2002994d5 56 set_dtc(io->c, 0.5f + 0.5f * vc * LINEAR_MODULATION_MAX);
bwang 117:97da9eb4300e 57 wait_us(100);
bwang 117:97da9eb4300e 58 }
bwang 117:97da9eb4300e 59
bwang 119:ad7a6af6fba3 60 theta_last = io->pos->GetElecPosition();
bwang 117:97da9eb4300e 61 for (int i = 0; i < n; i++) {
bwang 117:97da9eb4300e 62 for (int j = 0; j < n2; j++) {
bwang 117:97da9eb4300e 63 theta_ref += delta;
bwang 117:97da9eb4300e 64 abc(theta_ref, vd, vq, &va, &vb, &vc);
bwang 117:97da9eb4300e 65
bwang 157:a9b2002994d5 66 set_dtc(io->a, 0.5f + 0.5f * va * LINEAR_MODULATION_MAX);
bwang 157:a9b2002994d5 67 set_dtc(io->b, 0.5f + 0.5f * vb * LINEAR_MODULATION_MAX);
bwang 157:a9b2002994d5 68 set_dtc(io->c, 0.5f + 0.5f * vc * LINEAR_MODULATION_MAX);
bwang 118:2b6dab10b69d 69 wait_us(3000);
bwang 117:97da9eb4300e 70 }
bwang 119:ad7a6af6fba3 71
bwang 119:ad7a6af6fba3 72 theta_actual = io->pos->GetElecPosition();
bwang 119:ad7a6af6fba3 73
bwang 119:ad7a6af6fba3 74 //compensate for position rollover
bwang 119:ad7a6af6fba3 75 if (theta_actual - theta_last < -PI) rollover += 2 * PI;
bwang 119:ad7a6af6fba3 76 if (theta_actual - theta_last > PI) rollover -= 2 * PI;
bwang 119:ad7a6af6fba3 77 io->pc->printf("%f,%f\n", theta_actual + rollover, theta_ref);
bwang 119:ad7a6af6fba3 78
bwang 119:ad7a6af6fba3 79 theta_last = theta_actual;
bwang 119:ad7a6af6fba3 80
bwang 119:ad7a6af6fba3 81 error_f[i] = theta_ref - theta_actual - rollover;
bwang 117:97da9eb4300e 82 }
bwang 117:97da9eb4300e 83
bwang 117:97da9eb4300e 84 for (int i = 0; i < n; i++) {
bwang 117:97da9eb4300e 85 for (int j = 0; j < n2; j++) {
bwang 117:97da9eb4300e 86 theta_ref -= delta;
bwang 117:97da9eb4300e 87 abc(theta_ref, vd, vq, &va, &vb, &vc);
bwang 117:97da9eb4300e 88
bwang 157:a9b2002994d5 89 set_dtc(io->a, 0.5f + 0.5f * va * LINEAR_MODULATION_MAX);
bwang 157:a9b2002994d5 90 set_dtc(io->b, 0.5f + 0.5f * vb * LINEAR_MODULATION_MAX);
bwang 157:a9b2002994d5 91 set_dtc(io->c, 0.5f + 0.5f * vc * LINEAR_MODULATION_MAX);
bwang 118:2b6dab10b69d 92 wait_us(3000);
bwang 117:97da9eb4300e 93 }
bwang 119:ad7a6af6fba3 94
bwang 119:ad7a6af6fba3 95 theta_actual = io->pos->GetElecPosition();
bwang 119:ad7a6af6fba3 96
bwang 119:ad7a6af6fba3 97 if (theta_actual - theta_last < -PI) rollover += 2 * PI;
bwang 119:ad7a6af6fba3 98 if (theta_actual - theta_last > PI) rollover -= 2 * PI;
bwang 119:ad7a6af6fba3 99 io->pc->printf("%f,%f\n", theta_actual + rollover, theta_ref);
bwang 119:ad7a6af6fba3 100
bwang 119:ad7a6af6fba3 101 theta_last = theta_actual;
bwang 119:ad7a6af6fba3 102
bwang 119:ad7a6af6fba3 103 error_b[i] = theta_ref - theta_actual- rollover;
bwang 117:97da9eb4300e 104 }
bwang 117:97da9eb4300e 105
bwang 117:97da9eb4300e 106 float offset = 0.0f;
bwang 117:97da9eb4300e 107 for (int i = 0; i < n; i++) {
bwang 117:97da9eb4300e 108 offset += (error_f[i] + error_b[n - 1 - i]) / (2.0f * n);
bwang 117:97da9eb4300e 109 }
bwang 119:ad7a6af6fba3 110 offset = fmodf(offset, 2 * PI);
bwang 117:97da9eb4300e 111 io->pc->printf("Offset: %f\n", offset);
bwang 117:97da9eb4300e 112 }