Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

ThrottleMapper/ThrottleMapper.cpp@92:a9dac72d8cac, 2017-04-06 (annotated)

Committer:
bwang
Date:
Thu Apr 06 17:33:47 2017 +0000
Revision:
92:a9dac72d8cac
Parent:
56:c681001dfa46
Child:
111:451e40aed753
--PwmIn now checks lower bounds for sanity and fall without rise; --switched to edge aligned pwm to work around prius module propagation delays

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 42:030e0ec4eac5 1 #include "ThrottleMapper.h"
bwang 42:030e0ec4eac5 2
bwang 42:030e0ec4eac5 3 #include "config_motor.h"
bwang 42:030e0ec4eac5 4 #include "config_inverter.h"
bwang 42:030e0ec4eac5 5 #include "config_driving.h"
bwang 42:030e0ec4eac5 6
bwang 42:030e0ec4eac5 7 float DrivingThrottleMapper::map(float throttle, float w) {
bwang 42:030e0ec4eac5 8 float z = getZeroTqThrottle(w);
bwang 42:030e0ec4eac5 9 float tq, tqmax;
bwang 42:030e0ec4eac5 10
bwang 42:030e0ec4eac5 11 if (throttle > z) tqmax = getMaxTqpctPlus(w);
bwang 42:030e0ec4eac5 12 if (throttle <= z) tqmax = getMaxTqpctMinus(w);
bwang 42:030e0ec4eac5 13
bwang 42:030e0ec4eac5 14 if (throttle > z) tq = (throttle - z) / (1.0f - z);
bwang 42:030e0ec4eac5 15 if (throttle <= z) tq = (throttle - z) / z;
bwang 42:030e0ec4eac5 16
bwang 42:030e0ec4eac5 17 if (tq > tqmax) tq = tqmax;
bwang 42:030e0ec4eac5 18 return tq;
bwang 42:030e0ec4eac5 19 }
bwang 42:030e0ec4eac5 20
bwang 42:030e0ec4eac5 21 float DrivingThrottleMapper::getMaxTqpctPlus(float w) {
bwang 42:030e0ec4eac5 22 return MAX_TQPCT_PLUS;
bwang 42:030e0ec4eac5 23 }
bwang 42:030e0ec4eac5 24
bwang 42:030e0ec4eac5 25 float DrivingThrottleMapper::getMaxTqpctMinus(float w) {
bwang 42:030e0ec4eac5 26 return MAX_TQPCT_MINUS;
bwang 42:030e0ec4eac5 27 }
bwang 42:030e0ec4eac5 28
bwang 42:030e0ec4eac5 29 float DrivingThrottleMapper::getZeroTqThrottle(float w) {
bwang 42:030e0ec4eac5 30 float tmp = w / W_MAX;
bwang 42:030e0ec4eac5 31 return tmp < 1.0f ? tmp : 1.0f;
bwang 56:c681001dfa46 32 }
bwang 56:c681001dfa46 33
bwang 56:c681001dfa46 34 LimitingThrottleMapper::LimitingThrottleMapper(float wmax) {
bwang 56:c681001dfa46 35 __wmax = wmax;
bwang 56:c681001dfa46 36 __wlim = 0.95f * __wmax;
bwang 56:c681001dfa46 37 }
bwang 56:c681001dfa46 38
bwang 56:c681001dfa46 39 float LimitingThrottleMapper::map(float throttle, float w) {
bwang 56:c681001dfa46 40 if (w <= __wlim) {
bwang 56:c681001dfa46 41 return throttle;
bwang 56:c681001dfa46 42 }
bwang 56:c681001dfa46 43 if (w > __wmax) {
bwang 56:c681001dfa46 44 w = __wmax;
bwang 56:c681001dfa46 45 }
bwang 56:c681001dfa46 46 return (__wmax - w) / (__wmax - __wlim) * throttle;
bwang 42:030e0ec4eac5 47 }