Diff: main.cpp

Revision:

84:dd32640942a4

Parent:

83:eb3704d4943f

Child:

86:b059f637e9ac

--- a/main.cpp	Sat Mar 11 08:51:04 2017 +0000
+++ b/main.cpp	Sun Mar 12 06:49:10 2017 +0000
@@ -10,11 +10,11 @@
 #include "ThrottleMapper.h"
 #include "PreferenceWriter.h"
 #include "CommandProcessor.h"
+#include "Preferences.h"
 
 #include "BREMSStructs.h"
 #include "BREMSConfig.h"
 
-#include "config.h"
 #include "config_motor.h"
 #include "config_loop.h"
 #include "config_pins.h"
@@ -51,7 +51,7 @@
 
 void commutate() {    
     /*safety checks, do we do anything this cycle?*/
-    if (!control.enabled && io.throttle_in->get_enabled() && io.pos->IsValid() && is_driving()) {
+    if (!control.enabled && checks_passed()) {
         go_enabled();
     }
     
@@ -76,6 +76,22 @@
     clarke(foc.ia, foc.ib, &foc.alpha, &foc.beta);
     park(foc.alpha, foc.beta, sin_p, cos_p, &foc.d, &foc.q);
     
+    /*run additional controllers; the output of every controller is a torque percent*/
+    switch (BREMS_op) {
+    case OP_TORQUE:
+        control.torque_percent = control.user_cmd;
+        break;
+    case OP_DRIVING:
+        control.torque_percent = th->map(control.user_cmd, read.w);
+        break;
+    case OP_SPEED:
+        //set velocity setpoint here;
+        break;
+    case OP_POSITION:
+        //set pos setpoint here;
+        break;
+    }
+    
     /*get references*/
     /*happens here, as we may want other controllers running each cycle*/
     dq->map(control.torque_percent, read.w, &control.d_ref, &control.q_ref);
@@ -117,15 +133,29 @@
     vc = vc - voff;
     
     /*safety checks, reset integral*/
-    if (!io.throttle_in->get_enabled() || !io.pos->IsValid() || !is_driving()) {
-        /*do this even in disabled state, to keep integral down*/
+    if (!checks_passed()) {
         go_disabled();
     }
     
     /*output to timers*/
-    set_dtc(io.a, 0.5f + 0.5f * va);
-    set_dtc(io.b, 0.5f + 0.5f * vb);
-    set_dtc(io.c, 0.5f + 0.5f * vc);
+    switch (BREMS_mode) {
+    case MODE_CFG:
+        set_dtc(io.a, 0.5f);
+        set_dtc(io.b, 0.5f);
+        set_dtc(io.c, 0.5f);
+        break;
+    case MODE_RUN:
+        set_dtc(io.a, 0.5f + 0.5f * va);
+        set_dtc(io.b, 0.5f + 0.5f * vb);
+        set_dtc(io.c, 0.5f + 0.5f * vc);
+        break;
+    case MODE_ZERO:
+        //zeroing code here;
+        break;
+    case MODE_CHR:
+        //i have no idea lol;
+        break;
+    }
 }
 
 void slow_loop() {
@@ -144,20 +174,6 @@
         //these sources are updated asynchronously via interrupts
         break;
     }
-    switch (BREMS_op) {
-    case OP_TORQUE:
-        control.torque_percent = control.user_cmd;
-        break;
-    case OP_DRIVING:
-        control.torque_percent = th->map(control.user_cmd, read.w);
-        break;
-    case OP_SPEED:
-        //set velocity setpoint here;
-        break;
-    case OP_POSITION:
-        //set pos setpoint here;
-        break;
-    }
 }
 
 int main() {