Revision 5:ee1e6c84c302, committed 2015-03-03

Comitter:

nki

Date:

Tue Mar 03 06:28:10 2015 +0000

Parent:

4:fdadf4a3577a

Child:

6:99ee0ce47fb2

Commit message:

hi there;

Changed in this revision

--- a/includes.h	Mon Mar 02 11:17:15 2015 +0000
+++ b/includes.h	Tue Mar 03 06:28:10 2015 +0000
@@ -3,6 +3,7 @@
 
 #include "mbed.h"
 #include "config.h"
+#include "math.h"
 
 #ifdef __DEBUG
 extern Serial *pc;

--- a/loopdriver.cpp	Mon Mar 02 11:17:15 2015 +0000
+++ b/loopdriver.cpp	Tue Mar 03 06:28:10 2015 +0000
@@ -52,7 +52,7 @@
 float LoopDriver::LutSin(float theta) {
     if (theta < 0.0f) theta += 360.0f;
     if (theta >= 360.0f) theta -= 360.0f;
-    return sinetab[(int) theta];
+    return (sinetab[(int) theta]*2)-1.0f; //shift range 0:1 to -1:1
 }
 
 float LoopDriver::LutCos(float theta) {
@@ -60,11 +60,11 @@
 }
 
 void LoopDriver::update() {
-    _blinky_toggle = !_blinky_toggle;
-    
+    /*
     _inverter->SetDtcA(LutSin(_motor->angle));
     _inverter->SetDtcB(LutSin(_motor->angle - 120.0f));
     _inverter->SetDtcC(LutSin(_motor->angle + 120.0f));
+    */
     
     float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta;
     Clarke(_motor->I_a, _motor->I_b, &alpha, &beta);
@@ -73,4 +73,7 @@
     float vd = _pid_d->Update(ref_d, d);
     float vq = _pid_q->Update(ref_q, q);
     InverseParke(vd, vq, _motor->angle, &valpha, &vbeta);
+    _modulator->Update(valpha, vbeta);
+    
+    
 }

--- a/main.cpp	Mon Mar 02 11:17:15 2015 +0000
+++ b/main.cpp	Tue Mar 03 06:28:10 2015 +0000
@@ -7,7 +7,7 @@
 
 int main() {
     pc->baud(115200);
-    PositionSensor *sense_p = new AnalogHallPositionSensor(A4, A5, 0.256f, 0.484f, 0.254f, 0.474f, 205.0f);
+    PositionSensor *sense_p = new AnalogHallPositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 200.0f);
     CurrentSensor *sense_ia = new AnalogCurrentSensor(A1, 0.01);
     CurrentSensor *sense_ib = new AnalogCurrentSensor(A2, 0.01);
     VoltageSensor *sense_bus = new AnalogVoltageSensor(A5, 0.01);
@@ -15,8 +15,8 @@
     TempSensor *sense_t_inverter = new TempSensor();
     Throttle *throttle = new Throttle(A0, 0.5f, 3.0f);
     
-    PidController *pid_d = new PidController(1.0f, 0.0f, 0.0f, 0.0f, 1.0f);
-    PidController *pid_q = new PidController (1.0f, 0.0f, 0.0f, 0.0f, 1.0f);
+    PidController *pid_d = new PidController(0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
+    PidController *pid_q = new PidController (0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
     
     Motor *motor = new Motor(sense_ia, sense_ib, sense_p, sense_t_motor);
     Inverter *inverter = new Inverter(D6, D13, D3, D8, sense_bus, sense_t_inverter);

--- a/modulators.cpp	Mon Mar 02 11:17:15 2015 +0000
+++ b/modulators.cpp	Tue Mar 03 06:28:10 2015 +0000
@@ -1,8 +1,8 @@
 #include "includes.h"
 #include "meta.h"
 
-void SinusoidalModulator::Update(float va, float vb) {
-    _inverter->SetDtcA(va);
-    _inverter->SetDtcB(vb);
-    _inverter->SetDtcC(1.0f - va - vb);
+void SinusoidalModulator::Update(float vb, float va) {
+    _inverter->SetDtcC(vb);
+    _inverter->SetDtcA(-vb/2.0f + sqrt(3.0f)/2.0f * va);
+    _inverter->SetDtcB(-vb/2.0f - sqrt(3.0f)/2.0f * va);
 }
\ No newline at end of file

--- a/positionsensors.cpp	Mon Mar 02 11:17:15 2015 +0000
+++ b/positionsensors.cpp	Tue Mar 03 06:28:10 2015 +0000
@@ -40,6 +40,17 @@
     angle -= _offset;
     if (angle < 0.0f) angle += 360.0f;
     if (angle >= 360.0f) angle -= 360.0f;
+    /*
+    #ifdef __DEBUG
+    pc->printf("%f",angle);
+    pc->printf("\t");
+    pc->printf("%f",ascaled);
+    pc->printf("\t");
+    pc->printf("%f",bscaled);
+    pc->printf("\t");
+    pc->printf("\n\r");
+    #endif
+    */
     
     return angle;
 }
\ No newline at end of file

--- a/referencesynthesizers.cpp	Mon Mar 02 11:17:15 2015 +0000
+++ b/referencesynthesizers.cpp	Tue Mar 03 06:28:10 2015 +0000
@@ -10,7 +10,7 @@
 float ReferenceSynthesizer::LutSin(float theta) {
     if (theta < 0.0f) theta += 360.0f;
     if (theta >= 360.0f) theta -= 360.0f;
-    return sinetab[(int) theta];
+    return (sinetab[(int) theta]*2)-1.0f; //shift range 0:1 to -1:1
 }
 
 float ReferenceSynthesizer::LutCos(float theta) {

--- a/statusupdater.cpp	Mon Mar 02 11:17:15 2015 +0000
+++ b/statusupdater.cpp	Tue Mar 03 06:28:10 2015 +0000
@@ -45,10 +45,7 @@
     
     for(;;) {
         
-        #ifdef __DEBUG
-        pc->printf("%f",LutSin(_motor->angle));
-        pc->printf("\n\r");
-        #endif
+        
         
         if (_time - last_fast > fast_us) {
             _motor->UpdateState();