Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Revisions of main.cpp

Revision Date Message Actions
92:a9dac72d8cac 2017-04-06 --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
91:f58472ac3fae 2017-04-05 switch to edge aligned mode for improved performance File  Diff  Annotate
90:2ef53b1a22de 2017-04-04 switched to using ADC_EOC File  Diff  Annotate
89:9e00a3c0c7ad 2017-03-28 vd,vq constrained in a circle, not an ellipse File  Diff  Annotate
88:703780322d5b 2017-03-28 rather shady vector hysteresis implementation, motor now spins very fast File  Diff  Annotate
87:eb5e918a6930 2017-03-25 the code does things, but are they right? File  Diff  Annotate
86:b059f637e9ac 2017-03-12 renamed some stuff File  Diff  Annotate
84:dd32640942a4 2017-03-12 better error handling started File  Diff  Annotate
83:eb3704d4943f 2017-03-11 more structural changes File  Diff  Annotate
82:5e741c5ffd9f 2017-03-10 things somewhat work? File  Diff  Annotate
77:66a9b53131f8 2017-02-25 throttle blocking code out for now, there seems to be a state where the throttle continuously blocks for seconds at a time... File  Diff  Annotate
76:c66014e50384 2017-02-24 lowered logging frequency, throttle polling frequency File  Diff  Annotate
75:591556ce033d 2017-02-24 throttle 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
74:f10cb573d7ca 2017-02-24 added two stage throttle filtering in an attempt to mitigate low speed crunching File  Diff  Annotate
73:d44bc3a46942 2017-02-20 added ConstantThrottleMapper class for testing File  Diff  Annotate
72:5f1da97d62e1 2017-02-05 added config_logging.h File  Diff  Annotate
71:292dfc44ca53 2017-02-05 throttle filtering (0.9) + debug statements File  Diff  Annotate
70:5e39beeb4a21 2017-02-05 added throttle filtering File  Diff  Annotate
68:f69a4f5bc93e 2017-02-05 lower inductance tables result in extremely poor performance, poor spindown times, and oscillations File  Diff  Annotate
65:6e1fdbfae57b 2017-01-29 removed spurious comments, performance is mediocre (29Nm) File  Diff  Annotate
64:b4175385d718 2017-01-28 on gokart 1/28/2017 18:20; vd vq and integrals clamped into ellipses, correct gains, some debug statements in main() File  Diff  Annotate
63:f6fd98888e6a 2017-01-28 higher baudrate, incorrect loop gains, better real-world performance; on gokart 1/28/2017 04:12 File  Diff  Annotate
62:581aa9235ad6 2017-01-28 upped serial baud rate, "correct" loop gains (which result in reduced real-world performance) File  Diff  Annotate
61:85a31897e719 2017-01-28 work in progress File  Diff  Annotate
59:0416da6c3060 2017-01-28 minor changes File  Diff  Annotate
58:7316c5a4c417 2017-01-28 new gains, different d and q gains File  Diff  Annotate
56:c681001dfa46 2017-01-25 added (ineffective) LimitingThrottleMapper, updated throttle ranges to get 100% instead of 85% File  Diff  Annotate
55:3568b78dc203 2017-01-25 added W_SAFE parameter File  Diff  Annotate
54:25db122c05f0 2017-01-25 no printf's File  Diff  Annotate
53:b7f824360fe3 2017-01-25 error logic fixes File  Diff  Annotate
52:fd3d8df99287 2017-01-25 added integral decay and intent-of-driving check File  Diff  Annotate
51:8b817927d6e4 2017-01-22 removed debugging printf File  Diff  Annotate
50:f508c7860342 2017-01-22 excellent performance File  Diff  Annotate
49:da8604278d76 2017-01-16 non-saturating tables File  Diff  Annotate
48:a1a09c83d42c 2017-01-13 bugfixes 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
47:1c9868e226d0 2017-01-10 fixed order of operations bug File  Diff  Annotate
46:748aba7d111d 2017-01-10 startup message File  Diff  Annotate
45:cf8ad81fb0f0 2017-01-08 this revision uses the naive (no FW) d/q code and a linear throttle map File  Diff  Annotate
44:3fd6a43b91f0 2017-01-08 temp commit File  Diff  Annotate
42:030e0ec4eac5 2017-01-06 structural changes; reference and throttle maps now classes, global variables moved to structs, system config functions moved to BREMS/* File  Diff  Annotate
40:22aede3d096f 2016-12-12 switching to table based optimization File  Diff  Annotate
39:80b38a8e1787 2016-12-03 lastest updates; loads of stubs for broken FW and optimization functions File  Diff  Annotate
38:07cb4ae6c1bd 2016-11-29 added fast atan code to MathHelpers File  Diff  Annotate
37:ba7ebf4f8a78 2016-11-27 updated 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
36:cac9785c91cb 2016-11-27 working gokart, stubs for maximum torque per amp based on torque, converting to mpta based on total phase current File  Diff  Annotate
35:89385f64c867 2016-11-23 fixed scaling in decoupling code File  Diff  Annotate
34:454a4256c4fe 2016-11-23 additional algorithmic changes File  Diff  Annotate
32:b31423041c4e 2016-11-12 real values for Ld, Lq (altermotter) File  Diff  Annotate
31:ebe42589ab9d 2016-11-10 added IPM optimization code, commented out decoupling File  Diff  Annotate
30:c25c5bf0d951 2016-11-07 added decoupling; set Ld, Lq to nonzero to enable File  Diff  Annotate
29:50e6e4e46580 2016-11-07 updated headers, variable defs to make more sense File  Diff  Annotate
28:ed9c1ca386fd 2016-11-07 check for encoder index before applying current File  Diff  Annotate
27:7e073122ddf8 2016-11-06 removed CURRENT_U, CURRENT_V File  Diff  Annotate
26:955a1dfc2705 2016-11-06 updated encoder code to remove filtering, restored throttle control File  Diff  Annotate
25:3f2b585ae72d 2016-11-05 conventions now correct, motor crunches at >100v File  Diff  Annotate
24:5e18a87a0e95 2016-11-05 working velocity code, with caveats; fixed 50A iq File  Diff  Annotate
23:c77d4b42de17 2016-11-05 last working commit before scrambling transforms File  Diff  Annotate
22:72840d3db788 2016-11-05 autocalculate TIMx_ARR and loop gains based on switching frequency File  Diff  Annotate
21:b7fb355c8c2d 2016-11-05 bugfix - forgot to set vd, vq in previous commit File  Diff  Annotate
20:91ae97a811e3 2016-11-05 added driving.h File  Diff  Annotate