robot

Dependencies:   FastPWM3 mbed

Revisions of config_loop.h

Revision Date Message Actions
:0a22dcf91577 4 months ago05/04/2017 12:44 - moved median filter objects to ControlStruct, is_driving() now checks % torque cmd instead of raw throttle value File  Diff  Annotate
:8a1f9888f003 4 months agotemp commit, moving average does not seem to work too well File  Diff  Annotate
:6877dceec871 4 months ago05/04/2017 11:14 - removed w_crazy checks, switched velocity to median filtering File  Diff  Annotate
:08c13bfc7417 4 months agoWIP: new filtering code File  Diff  Annotate
:101b74e4763a 4 months ago05/01/2017 01:21 - driving code, 0.7g, achieved 47mph. Has throttle filtering File  Diff  Annotate
:639cd8586f86 4 months ago04/30/2017 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
:0b5edf7ef849 4 months agorestored throttle filtering File  Diff  Annotate
:e70ca81676fc 4 months agoadded voltage delay compensation term File  Diff  Annotate
:53be0630f79d 4 months agoformatting changes File  Diff  Annotate
:57b6f3b1356b 5 months agotransitioning to new velocity code File  Diff  Annotate
:bae8e944f756 5 months agohigher gains for reduced driving performance, but improved bench-testing performance File  Diff  Annotate
:4f322f608280 5 months agoslightly lower gains File  Diff  Annotate
:d100eb7d80ed 5 months agosome table configurations still oscillated, lower gains File  Diff  Annotate
:61b11d8e966e 5 months agoformatting fix File  Diff  Annotate
:1051c4103900 5 months agoadded AngleMapper class, dropped gains because noise caused the loop to oscillate File  Diff  Annotate
:e7e45957f496 5 months agogonna change tables again, these don't seem to track right File  Diff  Annotate
:a9dac72d8cac 5 months ago--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
:f58472ac3fae 5 months agoswitch to edge aligned mode for improved performance File  Diff  Annotate
:2ef53b1a22de 5 months agoswitched to using ADC_EOC File  Diff  Annotate
:703780322d5b 5 months agorather shady vector hysteresis implementation, motor now spins very fast File  Diff  Annotate
:c66014e50384 6 months agolowered logging frequency, throttle polling frequency File  Diff  Annotate
:591556ce033d 6 months agothrottle edges acquired during commutation are invalidated; physically impossible throttle readings are invalidated; removed two-step throttle filtering code in lieu of superior methods File  Diff  Annotate
:f10cb573d7ca 7 months agoadded two stage throttle filtering in an attempt to mitigate low speed crunching File  Diff  Annotate
:d44bc3a46942 7 months agoadded ConstantThrottleMapper class for testing File  Diff  Annotate
:5e39beeb4a21 7 months agoadded throttle filtering File  Diff  Annotate
:b4175385d718 7 months agoon gokart 1/28/2017 18:20; vd vq and integrals clamped into ellipses, correct gains, some debug statements in main() File  Diff  Annotate
:f6fd98888e6a 7 months agohigher baudrate, incorrect loop gains, better real-world performance; on gokart 1/28/2017 04:12 File  Diff  Annotate
:581aa9235ad6 7 months agoupped serial baud rate, "correct" loop gains (which result in reduced real-world performance) File  Diff  Annotate
:22338b6c7a6e 7 months agoreverted loop gains File  Diff  Annotate
:7316c5a4c417 7 months agonew gains, different d and q gains File  Diff  Annotate
:fe85b52e223d 7 months agofixed loop gain scaling issue File  Diff  Annotate
:c681001dfa46 7 months agoadded (ineffective) LimitingThrottleMapper, updated throttle ranges to get 100% instead of 85% File  Diff  Annotate
:fd3d8df99287 8 months agoadded integral decay and intent-of-driving check File  Diff  Annotate
:3fd6a43b91f0 8 months agotemp commit File  Diff  Annotate
:80b38a8e1787 9 months agolastest updates; loads of stubs for broken FW and optimization functions File  Diff  Annotate
:5e18a87a0e95 10 months agoworking velocity code, with caveats; fixed 50A iq File  Diff  Annotate
:72840d3db788 10 months agoautocalculate TIMx_ARR and loop gains based on switching frequency File  Diff  Annotate
:b583cd30b063 10 months agosplit config.h into three config headers File  Diff  Annotate