robot

Dependencies:   FastPWM3 mbed

Revisions of main.cpp

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
:a7a0c9d70e8a 4 months ago05/02/2017 06:54 - fast logging is now back to logging vd, vq instead of decoupling terms File  Diff  Annotate
:a5417cabea47 4 months ago05/01/2017 03:12 - tweaked throttle bounds for lower (56k) pulldown; relaxed THROTLE_CRAZY parameters a bit File  Diff  Annotate
:101b74e4763a 4 months ago05/01/2017 01:21 - driving code, 0.7g, achieved 47mph. Has throttle filtering File  Diff  Annotate
:031df63c7dbc 4 months agodecoupling 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
:498f56ba051e 4 months agoformat change, since it is hard to measure actual inverter delay File  Diff  Annotate
:e70ca81676fc 4 months agoadded voltage delay compensation term File  Diff  Annotate
:d81d91c9abe8 4 months agoadded compensation for speed-dependent phase offset File  Diff  Annotate
:53be0630f79d 4 months agoformatting changes File  Diff  Annotate
:de10418bf2c2 5 months agoworking calibration (plot output first!), new offset, new mechanical position code File  Diff  Annotate
:57b6f3b1356b 5 months agotransitioning to new velocity code File  Diff  Annotate
:ad7a6af6fba3 5 months agorunning code, new phase (5.7614) working sensor calibration code, some new PositionSensor functions File  Diff  Annotate
:2b6dab10b69d 5 months agoposition sensor calibration does things, but are they right? File  Diff  Annotate
:6c1bce07768d 5 months agointegral_d and q are now constrained in a circle, not an ellipse File  Diff  Annotate
:095a77fcf53b 5 months agoadded decoupling, finally corrected hardcoded motor parameters File  Diff  Annotate
:ac6db1b94b59 5 months agoformatting changes File  Diff  Annotate
:1cd38f88393c 5 months agorunning firmware 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
: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
:9e00a3c0c7ad 5 months agovd,vq constrained in a circle, not an ellipse File  Diff  Annotate
:703780322d5b 5 months agorather shady vector hysteresis implementation, motor now spins very fast File  Diff  Annotate
:eb5e918a6930 6 months agothe code does things, but are they right? File  Diff  Annotate
:b059f637e9ac 6 months agorenamed some stuff File  Diff  Annotate
:dd32640942a4 6 months agobetter error handling started File  Diff  Annotate
:eb3704d4943f 6 months agomore structural changes File  Diff  Annotate
:5e741c5ffd9f 6 months agothings somewhat work? File  Diff  Annotate
:66a9b53131f8 6 months agothrottle blocking code out for now, there seems to be a state where the throttle continuously blocks for seconds at a time... 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
:5f1da97d62e1 7 months agoadded config_logging.h File  Diff  Annotate
:292dfc44ca53 7 months agothrottle filtering (0.9) + debug statements File  Diff  Annotate
:5e39beeb4a21 7 months agoadded throttle filtering File  Diff  Annotate
:f69a4f5bc93e 7 months agolower inductance tables result in extremely poor performance, poor spindown times, and oscillations File  Diff  Annotate
:6e1fdbfae57b 7 months agoremoved spurious comments, performance is mediocre (29Nm) 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
:85a31897e719 7 months agowork in progress File  Diff  Annotate
:0416da6c3060 7 months agominor changes File  Diff  Annotate
:7316c5a4c417 7 months agonew gains, different d and q gains File  Diff  Annotate
:c681001dfa46 7 months agoadded (ineffective) LimitingThrottleMapper, updated throttle ranges to get 100% instead of 85% File  Diff  Annotate
:3568b78dc203 8 months agoadded W_SAFE parameter File  Diff  Annotate
:25db122c05f0 8 months agono printf's File  Diff  Annotate
:b7f824360fe3 8 months agoerror logic fixes File  Diff  Annotate
:fd3d8df99287 8 months agoadded integral decay and intent-of-driving check File  Diff  Annotate
:8b817927d6e4 8 months agoremoved debugging printf File  Diff  Annotate
:f508c7860342 8 months agoexcellent performance File  Diff  Annotate
:da8604278d76 8 months agonon-saturating tables File  Diff  Annotate
:a1a09c83d42c 8 months agobugfixes on table code (zero throttle is now zero torque, fixed a sign error going in reverse); current table has some made-up saturation curves taken into account File  Diff  Annotate