Bayley Wang
/
priustroller
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analoghalls5_5
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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
--- 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
--- 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);
--- 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