Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Calibration/Calibration.cpp@155:7c6005933d4c, 2017-05-04 (annotated)

Committer:
bwang
Date:
Thu May 04 17:35:10 2017 +0000
Revision:
155:7c6005933d4c
Parent:
119:ad7a6af6fba3
Child:
157:a9b2002994d5
05/04/2017 13:34 - changed logic in PwmIn::handle_fall, which no longer resets timer on invalid edges

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