robot

Dependencies:   FastPWM3 mbed

Revisions of main.cpp

Revision Date Message Actions
: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 6 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 7 months agoadded W_SAFE parameter File  Diff  Annotate
:25db122c05f0 7 months agono printf's File  Diff  Annotate
:b7f824360fe3 7 months agoerror logic fixes File  Diff  Annotate
:fd3d8df99287 7 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
:1c9868e226d0 8 months agofixed order of operations bug File  Diff  Annotate
:748aba7d111d 8 months agostartup message File  Diff  Annotate
:cf8ad81fb0f0 8 months agothis revision uses the naive (no FW) d/q code and a linear throttle map File  Diff  Annotate
:3fd6a43b91f0 8 months agotemp commit File  Diff  Annotate
:030e0ec4eac5 8 months agostructural changes; reference and throttle maps now classes, global variables moved to structs, system config functions moved to BREMS/* File  Diff  Annotate
:22aede3d096f 9 months agoswitching to table based optimization File  Diff  Annotate
:80b38a8e1787 9 months agolastest updates; loads of stubs for broken FW and optimization functions File  Diff  Annotate
:07cb4ae6c1bd 9 months agoadded fast atan code to MathHelpers File  Diff  Annotate
:ba7ebf4f8a78 9 months agoupdated get_mtpa_dq to be always give the correct ratio of id to iq; NOT TESTED: switched get_dq to use the get_mtpa* functions as altermotter requires huge amounts of d-axis amps File  Diff  Annotate
:cac9785c91cb 9 months agoworking gokart, stubs for maximum torque per amp based on torque, converting to mpta based on total phase current File  Diff  Annotate
:89385f64c867 10 months agofixed scaling in decoupling code File  Diff  Annotate
:454a4256c4fe 10 months agoadditional algorithmic changes File  Diff  Annotate
:b31423041c4e 10 months agoreal values for Ld, Lq (altermotter) File  Diff  Annotate
:ebe42589ab9d 10 months agoadded IPM optimization code, commented out decoupling File  Diff  Annotate
:c25c5bf0d951 10 months agoadded decoupling; set Ld, Lq to nonzero to enable File  Diff  Annotate
:50e6e4e46580 10 months agoupdated headers, variable defs to make more sense File  Diff  Annotate
:ed9c1ca386fd 10 months agocheck for encoder index before applying current File  Diff  Annotate
:7e073122ddf8 10 months agoremoved CURRENT_U, CURRENT_V File  Diff  Annotate
:955a1dfc2705 10 months agoupdated encoder code to remove filtering, restored throttle control File  Diff  Annotate
:3f2b585ae72d 10 months agoconventions now correct, motor crunches at >100v File  Diff  Annotate
:5e18a87a0e95 10 months agoworking velocity code, with caveats; fixed 50A iq File  Diff  Annotate
:c77d4b42de17 10 months agolast working commit before scrambling transforms File  Diff  Annotate
:72840d3db788 10 months agoautocalculate TIMx_ARR and loop gains based on switching frequency File  Diff  Annotate
:b7fb355c8c2d 10 months agobugfix - forgot to set vd, vq in previous commit File  Diff  Annotate
:91ae97a811e3 10 months agoadded driving.h File  Diff  Annotate