Diff: main.cpp

Revision:

11:dccbaa9274c5

Parent:

10:b4abecccec7a

Child:

24:f1ff9c7256b5

--- a/main.cpp	Sun Mar 08 00:45:28 2015 +0000
+++ b/main.cpp	Sun Mar 08 08:37:38 2015 +0000
@@ -1,76 +1,21 @@
 #include "includes.h"
+#include "transforms.h"
+#include "filters.h"
+#include "context.h"
 #include "core.h"
-#include "sensors.h"
 #include "meta.h"
-
-void txCallback() {
-}
- 
-// This function is called when a character goes into the RX buffer.
-void rxCallback() {
-    if(pc->getc()=='r'){
-        acquire = 1;
-        pc->putc('3');
-    }
-    if((pc->getc()=='d')&(acquire==0)&(_user->throttle==0)){
-        for (int i = 0; i < 10000; i++) {
-            pc->printf("%f,", fbuffer[i]);
-        }
-    }
-    pc->putc(pc->getc());
-}
- 
-
-    
-
-
-
-Serial *pc = new Serial(SERIAL_TX, SERIAL_RX);
-float test_alpha = 0;
-float test_beta = 0;
-
-float d_mean = 0;
-float q_mean = 0;
-
-float test_DtcA;
-float test_DtcB;
-float test_DtcC;
+#include "sensors.h"
+#include "callbacks.h"
 
-float *fbuffer;
-int acquire = 0;
-int bufidx = 0;
-int bufsize = 10000;
-int skip = 0;
-
-int main() {
-    pc->baud(115200);
-    pc->attach(&txCallback, Serial::TxIrq);
-    pc->attach(&rxCallback, Serial::RxIrq);
-    pc->printf("%s\n\r", "Init Serial Comm");
-
-    fbuffer = (float*)malloc(bufsize*sizeof(float));
-    
-    PositionSensor *sense_p = new AnalogHallPositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f);
-    CurrentSensor *sense_ic = new AnalogCurrentSensor(A1, 0.01);
-    CurrentSensor *sense_ib = new AnalogCurrentSensor(A2, 0.01);
-    VoltageSensor *sense_bus = new AnalogVoltageSensor(A5, 0.01);
-    TempSensor *sense_t_motor = new TempSensor();
-    TempSensor *sense_t_inverter = new TempSensor();
-    Throttle *throttle = new Throttle(A0, 0.8f, 3.0f);
-    
-    PidController *pid_d = new PidController(0.001f, 0.1f, 0.0f, 1.0f, -1.0f);
-    PidController *pid_q = new PidController (0.001f, 0.1f, 0.0f, 5.0f, -5.0f);
-    
-    Motor *motor = new Motor(sense_ic, sense_ib, sense_p, sense_t_motor);
-    Inverter *inverter = new Inverter(D6, D13, D3, D8, sense_bus, sense_t_inverter);
-    User *user = new User(throttle);
-    Modulator *modulator = new SinusoidalModulator(inverter);
-    StatusUpdater *updater = new StatusUpdater(inverter, motor, user);
-    LoopDriver *driver = new LoopDriver(inverter, motor, user, pid_d, pid_q, modulator, 1.0f, 5000);
-    
-    motor->Config(4, 20.0f);
-    updater->Config(5000, 100, 10);
-         
-    driver->Start();
-    updater->Start();
+int main() { 
+    Context *context = new Context();
+    context->ConfigureOutputs(D6, D13, D3, D8);
+    context->ConfigureCurrentSensors(A1, A2, 0.01, 0.95);
+    context->ConfigurePidControllers(0.001f, 0.1f, 0.0f, 5.0f, -5.0f);
+    context->ConfigureThrottle(A0, 0.8f, 3.0f);
+    context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f);
+    context->AttachCallBack(&fast, 5000);
+    context->AttachCallBack(&slow, 10);
+    context->AttachCallBack(&debug, 10);
+    context->Start();
 }