Bayley Wang
/
foc-ed_in_the_bot_compact
robot
CHANGELOG.txt
- Committer:
- bwang
- Date:
- 2017-05-04
- Revision:
- 154:0a22dcf91577
- Parent:
- 152:6877dceec871
- Child:
- 155:7c6005933d4c
File content as of revision 154:0a22dcf91577:
04/30/2017 02:45 - added CHANGELOG.txt 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 05/01/2017 00:04 - added some decoupling terms, which may or may not work. 05/01/2017 01:21 - driving code, 0.7g, achieved 40mph. Has throttle filtering 05/01/2017 03:17 - changed throttle limits to match 56k pulldown; relaxed THROTTLE_CRAZY bounds a bit 05/01/2017 06:40 - more tweaks to throttle limits 05/01/2017 07:21 - rising edge from disabled state now resets usec count in PwmIn 05/01/2017 07:58 - W_CRAZY limit bumped up, never an issue on the road but may behave strangely on the bench 05/01/2017 08:13 - enabled->disabled now resets usec count in PwmIn 05/01/2017 09:00 - bumped up THROTTLE_LOW from 1020 to 1050 05/02/2017 06:54 - fast logging is now back to logging vd, vq instead of decoupling terms 05/03/2017 08:24 - added circular buffer code 05/03/2017 08:27 - CircularBuffer moved to its own .cpp file 05/03/2017 08:36 - added median and moving average filters 05/03/2017 09:26 - added use_median option to circular buffers (since average filters may not want to recalculate the median every sample) 05/03/2017 09:39 - indexing bugfix in median code 05/04/2017 08:53 - added fast path for median-of-3 05/04/2017 10:33 - removed throttle_crazy checks as these lead to dangerous behavior; beginnings of new filter code in main.cpp 05/04/2017 11:14 - removed w_crazy checks, switched velocity to median filtering 05/04/2017 12:44 - moved median filter objects to ControlStruct, is_driving() now checks % torque cmd instead of raw throttle value