Bayley Wang / Mbed 2 deprecated priustroller

Prius IPM controller

Dependencies:   mbed

Fork of analoghalls5_5 by N K

util/fastmath.cpp@35:83cf9564bd0c, 2015-03-16 (annotated)

Committer:
bwang
Date:
Mon Mar 16 15:40:07 2015 +0000
Revision:
35:83cf9564bd0c
Parent:
11:dccbaa9274c5 
Set for 3A Iq, 0A Id, Ki = 1e-3, Kp = Kd = 0, loop still oscillates but is passable

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nki 9:d3b70c15baa9 1 #include "includes.h"
nki 9:d3b70c15baa9 2 #include "fastmath.h"
nki 9:d3b70c15baa9 3 #include "lut.h"
nki 9:d3b70c15baa9 4
nki 9:d3b70c15baa9 5 float FastMath::FastSin(float theta) {
nki 9:d3b70c15baa9 6 if (theta < 0.0f) theta += 360.0f;
nki 9:d3b70c15baa9 7 if (theta >= 360.0f) theta -= 360.0f;
nki 9:d3b70c15baa9 8 return 2.0f * sinetab[(int) theta] - 1.0f;
nki 9:d3b70c15baa9 9 }
nki 9:d3b70c15baa9 10
nki 9:d3b70c15baa9 11 float FastMath::FastCos(float theta) {
nki 9:d3b70c15baa9 12 return FastSin(90.0f - theta);
nki 9:d3b70c15baa9 13 }
nki 9:d3b70c15baa9 14
nki 9:d3b70c15baa9 15 float FastMath::FastSin01(float theta) {
nki 9:d3b70c15baa9 16 return FastSin(theta) * 0.5f + 0.5f;
nki 9:d3b70c15baa9 17 }
nki 9:d3b70c15baa9 18
nki 9:d3b70c15baa9 19 float FastMath::FastCos01(float theta) {
nki 9:d3b70c15baa9 20 return FastCos(theta) * 0.5f + 0.5f;
nki 9:d3b70c15baa9 21 }