Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Revisions of main.cpp

Revision Date Message Actions
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
122:53be0630f79d 2017-04-26 formatting changes File  Diff  Annotate
121:de10418bf2c2 2017-04-25 working calibration (plot output first!), new offset, new mechanical position code File  Diff  Annotate
120:57b6f3b1356b 2017-04-25 transitioning to new velocity code File  Diff  Annotate
119:ad7a6af6fba3 2017-04-25 running code, new phase (5.7614) working sensor calibration code, some new PositionSensor functions File  Diff  Annotate
118:2b6dab10b69d 2017-04-24 position sensor calibration does things, but are they right? File  Diff  Annotate
115:6c1bce07768d 2017-04-23 integral_d and q are now constrained in a circle, not an ellipse File  Diff  Annotate
114:095a77fcf53b 2017-04-23 added decoupling, finally corrected hardcoded motor parameters File  Diff  Annotate
108:ac6db1b94b59 2017-04-14 formatting changes File  Diff  Annotate
102:1cd38f88393c 2017-04-12 running firmware File  Diff  Annotate
101:4f322f608280 2017-04-11 slightly lower gains File  Diff  Annotate
100:d100eb7d80ed 2017-04-11 some table configurations still oscillated, lower gains File  Diff  Annotate
98:1051c4103900 2017-04-11 added AngleMapper class, dropped gains because noise caused the loop to oscillate File  Diff  Annotate
93:e7e45957f496 2017-04-07 gonna change tables again, these don't seem to track right File  Diff  Annotate
92:a9dac72d8cac 2017-04-06 --PwmIn now checks lower bounds for sanity and fall without rise; --switched to edge aligned pwm to work around prius module propagation delays File  Diff  Annotate
91:f58472ac3fae 2017-04-05 switch to edge aligned mode for improved performance File  Diff  Annotate
90:2ef53b1a22de 2017-04-04 switched to using ADC_EOC File  Diff  Annotate
89:9e00a3c0c7ad 2017-03-28 vd,vq constrained in a circle, not an ellipse File  Diff  Annotate
88:703780322d5b 2017-03-28 rather shady vector hysteresis implementation, motor now spins very fast File  Diff  Annotate