Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Revisions of main.cpp

Revision Date Message Actions
248:c4539ee69052 2018-11-13 11/13/2018 11:20 - added COMMANDS.txt, added bounds check in OP_TORQUE File  Diff  Annotate
243:96b03b3bf3ef 2018-11-12 11/12/2018 06:16 - added W_LOOP_MAX_TQ parameter to limit acceleration in speed mode (actually, to make bench supplies not freak out when the motor ramps) File  Diff  Annotate
242:ac30f04fd6f7 2018-11-12 11/12/2018 05:56 - added check for user_cmd < 0 in OP_DRIVING in cmd_setp - this disables motor if the user enters a cmd < 0, without screwing with error logic. File  Diff  Annotate
240:2aaffa217627 2018-11-11 added speed mode (untested), other changes - see CHANGELOG File  Diff  Annotate
234:ad68d7f8eff1 2018-11-10 11/10/2018 04:21 - cmd_setp() sets setpoint to zero if there are errors present (to avoid sudden start of motor if errors are cleared) File  Diff  Annotate
233:2ca26ab47b4f 2018-11-10 11/10/2018 04:14 - 'some modes override FOC outputs' removed from commutate(), as it is no longer needed (ZERO, CHR have their own routines, CFG disables output anyway) File  Diff  Annotate
232:47f6cf4f9126 2018-11-10 11/10/2018 03:36 - restructured code to allow for proper encoder zeroing - MODE_ZERO and MODE_CHR execute run-once functions when they are entered, then drop to MODE_CFG File  Diff  Annotate
231:753ec371b153 2018-11-10 11/10/2018 01:50 - swapped ia and ib (back to what they were before 11/10/2018) File  Diff  Annotate
230:7ac00598d366 2018-11-10 11/10/2018 01:32 - new pin mapping for new hardware File  Diff  Annotate
229:90c6892f4d3b 2018-11-10 11/10/2018 01:26 - renamed ia_supp_offset, ib_supp_offset to ad1, ad2_supp_offset to reflect the fact that they correspond to ADC channel offsets and not currents (which can be renamed in elsewhere) File  Diff  Annotate
228:8a14f1da2121 2018-11-10 temp commit, it works on new hardware File  Diff  Annotate
223:b986e7cee521 2018-10-02 10/02/2018 03:10 - added overly-complicated LedBlinker class for blinking status codes over an LED, added blinker object to IOStruct, STATUS_LED to hardware.h File  Diff  Annotate
215:7aa534d8ec4e 2018-04-30 MODE_ZERO requires at least 0.5 user_cmd to enable File  Diff  Annotate
213:2218bab57355 2018-04-29 last 3 commits had a DirectMapper in main instead of a LutMapper File  Diff  Annotate
212:1e370ffcb73d 2018-04-29 backspace (ASCII 0x08, PuTTY Shift+Backspace) also deletes the previous char in the terminal File  Diff  Annotate
211:3193c31cb1b7 2018-04-28 added vd, vq parameters in cmd_query, changed order of strcmps in cmd_query() to speed up typical use File  Diff  Annotate
205:5cfe6d7e08a3 2018-02-12 02/11/2018 21:21 - cmd_exit() checks that motor is not running File  Diff  Annotate
204:74714d52a936 2018-02-12 02/11/2018 21:11 - further improvements to mode handling, output overrides and output disabling now live in their own functions File  Diff  Annotate
203:cb2a3ea31dce 2018-02-12 temp commit File  Diff  Annotate
202:1baff0df86d1 2018-02-12 02/11/2017 20:13 - scrambled the mode and error handling code in commutate() to be cleaner File  Diff  Annotate
201:5d1a3aa50fe0 2018-02-12 temp commit File  Diff  Annotate
199:c160a2c03781 2018-02-11 02/11/2017 02:54 - long commands can no longer be executed while control.enabled == true, invalid BREMS_src now sets control.user_cmd to 0 File  Diff  Annotate
198:7ee146427a0d 2018-02-11 02/11/2018 02:11 - added BREMS_mode. most modes are stubs right now (BREMS_CFG does a rudimentary encoder zero-ing, BREMS_CFG disables outputs) File  Diff  Annotate
196:7172e6e28867 2018-02-10 02/10/2017 01:35 - can now switch command source to terminal, added 'clear' command (which clears the screen on POSIX-compliant terminals) File  Diff  Annotate
195:b61a734eb50c 2018-02-10 formatting fix File  Diff  Annotate
194:05e119bc5a78 2018-02-10 02/10/2018 01:05 - everything configured through flash variables, started adding support for operating modes File  Diff  Annotate
193:3abadeecf908 2018-02-10 02/10/2018 00:35 - added fancy masked error system File  Diff  Annotate
188:43f50a4cc040 2018-02-10 02/09/2018 19:12 - changed object initialization order in BREMSConfig.cpp to read values back from flash first File  Diff  Annotate
187:523cf8c962e4 2018-02-09 02/09/2018 18:22 - moved hard-coded config values to defaults.h, started filling out errors.cpp and callbacks.cpp File  Diff  Annotate
186:c18db1e31da6 2018-02-09 temp commit while working on moving definitions around File  Diff  Annotate
185:5c102874b490 2018-02-09 moved all the hard-coded values to defaults.h File  Diff  Annotate
184:633119bb0b77 2018-02-09 02/09/2018 16:01 - moved pinouts to layout.h File  Diff  Annotate
181:d3510c8beab6 2018-02-09 02/08/2018 22:48 - integrated CommandProcessor and PreferenceWriter (but code does not use dynamic config variables or set error flags yet) File  Diff  Annotate
180:a783a972a867 2018-02-09 Added BufferedLogger object to IOStruct, logging seems to work (insofar as data is sent over serial and the motor still seems to spin) File  Diff  Annotate
174:3872516b0d04 2018-02-06 Added InvertingThrottleMapper for easy motor reversing File  Diff  Annotate
172:3d7196b71afd 2017-12-03 lower resolution tables + interpolation File  Diff  Annotate
170:e2c3b5a938e7 2017-12-02 ThrottleMapper is now a LimitingThrottleMapper to prevent runaway motor speed under no-load, restored logging code in log() File  Diff  Annotate
169:80686bfd1fe9 2017-11-23 removed some dribblings of the stall testing code (wrong throttle limits, ThrottleMapper) File  Diff  Annotate
168:64a98ff3fb63 2017-10-01 typo fix File  Diff  Annotate
167:7f1f7dd969e2 2017-10-01 stall testing code, incorporates previous throttle fixes File  Diff  Annotate
166:4637785ba01e 2017-09-05 09/05/2017 04:57 - formatting fix File  Diff  Annotate
165:2463dbe52eee 2017-09-04 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 File  Diff  Annotate
164:cf373c5bcffc 2017-09-03 temp commit, i don't even File  Diff  Annotate
163:8b23a2fdaa16 2017-07-03 07/02/2017 21:18 - branch for stall testing code File  Diff  Annotate
161:19eac809c727 2017-07-01 back to driving code File  Diff  Annotate
160:6948bb7bcabd 2017-07-01 added AutoMapper, AutoThrottleMapper classes for automated stall testing File  Diff  Annotate
158:882f9c208378 2017-05-07 typo fix File  Diff  Annotate
157:a9b2002994d5 2017-05-07 05/07/2017 12:46 - added overmodulation option to config_loop File  Diff  Annotate
154:0a22dcf91577 2017-05-04 05/04/2017 12:44 - moved median filter objects to ControlStruct, is_driving() now checks % torque cmd instead of raw throttle value File  Diff  Annotate
153:8a1f9888f003 2017-05-04 temp commit, moving average does not seem to work too well File  Diff  Annotate
152:6877dceec871 2017-05-04 05/04/2017 11:14 - removed w_crazy checks, switched velocity to median filtering File  Diff  Annotate
150:08c13bfc7417 2017-05-04 WIP: new filtering code File  Diff  Annotate
143:a7a0c9d70e8a 2017-05-02 05/02/2017 06:54 - fast logging is now back to logging vd, vq instead of decoupling terms File  Diff  Annotate
133:a5417cabea47 2017-05-01 05/01/2017 03:12 - tweaked throttle bounds for lower (56k) pulldown; relaxed THROTLE_CRAZY parameters a bit File  Diff  Annotate
132:101b74e4763a 2017-05-01 05/01/2017 01:21 - driving code, 0.7g, achieved 47mph. Has throttle filtering File  Diff  Annotate
131:031df63c7dbc 2017-05-01 decoupling File  Diff  Annotate
130:639cd8586f86 2017-04-30 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 File  Diff  Annotate
126:498f56ba051e 2017-04-30 format change, since it is hard to measure actual inverter delay File  Diff  Annotate
124:e70ca81676fc 2017-04-30 added voltage delay compensation term File  Diff  Annotate
123:d81d91c9abe8 2017-04-28 added compensation for speed-dependent phase offset File  Diff  Annotate