Revision 35:83cf9564bd0c, committed 2015-03-16

Comitter:

bwang

Date:

Mon Mar 16 15:40:07 2015 +0000

Parent:

34:bfe180de813a

Commit message:

Set for 3A Iq, 0A Id, Ki = 1e-3, Kp = Kd = 0, loop still oscillates but is passable

Changed in this revision

diff -r bfe180de813a -r 83cf9564bd0c callbacks.cpp
--- a/callbacks.cpp	Mon Mar 16 04:58:35 2015 +0000
+++ b/callbacks.cpp	Mon Mar 16 15:40:07 2015 +0000
@@ -49,6 +49,6 @@
 }
 
 void log(Context *c) {
-    //c->debugger->Write(0, dbg_loop_d);
-    //c->debugger->Write(1, dbg_loop_q);
+    //c->debugger->Write(0, dbg_d_filtered);
+    //c->debugger->Write(1, dbg_q_filtered);
 }
\ No newline at end of file

diff -r bfe180de813a -r 83cf9564bd0c main.cpp
--- a/main.cpp	Mon Mar 16 04:58:35 2015 +0000
+++ b/main.cpp	Mon Mar 16 15:40:07 2015 +0000
@@ -11,12 +11,12 @@
     Context *context = new Context();
     context->ConfigureOutputs(D6, D13, D3, D8);
     context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f);
-    context->ConfigureIdPidController(0.0f, 0.0f, 0.0f, 1.0f, -1.0f);
+    context->ConfigureIdPidController(0.001f, 0.0f, 0.0f, 1.0f, -1.0f);
     context->ConfigureIqPidController(0.001f, 0.0f, 0.0f, 1.0f, -1.0f);
     context->ConfigureThrottle(A0, 0.8f, 3.0f);
     context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f);
-    context->ConfigureReference(5.0f);  // max phase current
-    context->ConfigureDebugger(2, 1000);
+    context->ConfigureReference(3.0f);  // max phase current
+    context->ConfigureDebugger(2, 2000);
     context->AttachCallBack(&fast, 5000);
     context->AttachCallBack(&slow, 10);
     context->AttachCallBack(&debug, 10);

diff -r bfe180de813a -r 83cf9564bd0c mbed.bld
--- a/mbed.bld	Mon Mar 16 04:58:35 2015 +0000
+++ b/mbed.bld	Mon Mar 16 15:40:07 2015 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/9ad691361fac
\ No newline at end of file
+http://mbed.org/users/mbed_official/code/mbed/builds/7e07b6fb45cf
\ No newline at end of file