robot

Dependencies:   FastPWM3 mbed

Revisions of main.cpp

Revision Date Message Actions
:c66014e50384 7 months agolowered logging frequency, throttle polling frequency File  Diff  Annotate
:591556ce033d 7 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 8 months agoadded config_logging.h File  Diff  Annotate
:292dfc44ca53 8 months agothrottle filtering (0.9) + debug statements File  Diff  Annotate
:5e39beeb4a21 8 months agoadded throttle filtering File  Diff  Annotate
:f69a4f5bc93e 8 months agolower inductance tables result in extremely poor performance, poor spindown times, and oscillations File  Diff  Annotate
:6e1fdbfae57b 8 months agoremoved spurious comments, performance is mediocre (29Nm) File  Diff  Annotate
:b4175385d718 8 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 8 months agohigher baudrate, incorrect loop gains, better real-world performance; on gokart 1/28/2017 04:12 File  Diff  Annotate
:581aa9235ad6 8 months agoupped serial baud rate, "correct" loop gains (which result in reduced real-world performance) File  Diff  Annotate
:85a31897e719 8 months agowork in progress File  Diff  Annotate
:0416da6c3060 8 months agominor changes File  Diff  Annotate
:7316c5a4c417 8 months agonew gains, different d and q gains File  Diff  Annotate
:c681001dfa46 8 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 9 months agonon-saturating tables File  Diff  Annotate
:a1a09c83d42c 9 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 9 months agofixed order of operations bug File  Diff  Annotate
:748aba7d111d 9 months agostartup message File  Diff  Annotate
:cf8ad81fb0f0 9 months agothis revision uses the naive (no FW) d/q code and a linear throttle map File  Diff  Annotate
:3fd6a43b91f0 9 months agotemp commit File  Diff  Annotate
:030e0ec4eac5 9 months agostructural changes; reference and throttle maps now classes, global variables moved to structs, system config functions moved to BREMS/* File  Diff  Annotate
:22aede3d096f 10 months agoswitching to table based optimization File  Diff  Annotate
:80b38a8e1787 10 months agolastest updates; loads of stubs for broken FW and optimization functions File  Diff  Annotate
:07cb4ae6c1bd 10 months agoadded fast atan code to MathHelpers File  Diff  Annotate
:ba7ebf4f8a78 10 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 10 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 11 months agoreal values for Ld, Lq (altermotter) File  Diff  Annotate
:ebe42589ab9d 11 months agoadded IPM optimization code, commented out decoupling File  Diff  Annotate
:c25c5bf0d951 11 months agoadded decoupling; set Ld, Lq to nonzero to enable File  Diff  Annotate
:50e6e4e46580 11 months agoupdated headers, variable defs to make more sense File  Diff  Annotate
:ed9c1ca386fd 11 months agocheck for encoder index before applying current File  Diff  Annotate
:7e073122ddf8 11 months agoremoved CURRENT_U, CURRENT_V File  Diff  Annotate
:955a1dfc2705 11 months agoupdated encoder code to remove filtering, restored throttle control File  Diff  Annotate
:3f2b585ae72d 11 months agoconventions now correct, motor crunches at >100v File  Diff  Annotate
:5e18a87a0e95 11 months agoworking velocity code, with caveats; fixed 50A iq File  Diff  Annotate
:c77d4b42de17 11 months agolast working commit before scrambling transforms File  Diff  Annotate
:72840d3db788 11 months agoautocalculate TIMx_ARR and loop gains based on switching frequency File  Diff  Annotate
:b7fb355c8c2d 11 months agobugfix - forgot to set vd, vq in previous commit File  Diff  Annotate
:91ae97a811e3 11 months agoadded driving.h File  Diff  Annotate
:a6cf15f89f3d 11 months agoformatting changes File  Diff  Annotate
:3863ca45cf26 11 months agoadded functionality for torque->dq, throttle->torque commands File  Diff  Annotate
:2b852039bb05 11 months agofurther structural changes, velocity has its own function now File  Diff  Annotate
:f283d6032fe5 11 months agomore structural changes File  Diff  Annotate
:b583cd30b063 11 months agosplit config.h into three config headers File  Diff  Annotate
:59c4fcc1a4f7 11 months agoaltermotter massacre, 50A current limit + SVPWM and throttle File  Diff  Annotate
:41d102a53caf 11 months agoIT WORKS THIS VERSION File  Diff  Annotate
:5723a4fa5864 11 months agoaltermotter massacre phase ordering File  Diff  Annotate
:133bd48c1b22 17 months agoaltermotter works great File  Diff  Annotate
:f49df0fe0382 17 months agoall motor settings now in config.h File  Diff  Annotate
:074575151e4b 17 months agoprepping for altermotter operation File  Diff  Annotate