Bayley Wang / Mbed 2 deprecated priustroller

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Dependencies:   mbed

Fork of analoghalls5_5 by N K

callbacks.cpp@29:cb03760ba9ea, 2015-03-14 (annotated)

Committer:
nki
Date:
Sat Mar 14 23:42:46 2015 +0000
Revision:
29:cb03760ba9ea
Parent:
27:846c08fb3697
Child:
30:2b6d426f3bfc
Cautionary commit, possibly works

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 11:dccbaa9274c5 1 #include "includes.h"
bwang 11:dccbaa9274c5 2 #include "transforms.h"
bwang 11:dccbaa9274c5 3 #include "filters.h"
bwang 11:dccbaa9274c5 4 #include "context.h"
bwang 11:dccbaa9274c5 5 #include "core.h"
bwang 11:dccbaa9274c5 6 #include "meta.h"
bwang 11:dccbaa9274c5 7 #include "sensors.h"
bwang 24:f1ff9c7256b5 8 #include "debug.h"
bwang 11:dccbaa9274c5 9
bwang 11:dccbaa9274c5 10 void fast(Context *c) {
bwang 11:dccbaa9274c5 11 float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta;
nki 21:da41c08e51bc 12 float I_b, I_c, angle, d_filtered, q_filtered, vd, vq;
bwang 24:f1ff9c7256b5 13 dbg_ib = I_b = c->motor->GetCurrentB();
bwang 24:f1ff9c7256b5 14 dbg_ic = I_c = c->motor->GetCurrentC();
nki 29:cb03760ba9ea 15
bwang 24:f1ff9c7256b5 16 dbg_angle = angle = c->motor->GetPosition();
bwang 24:f1ff9c7256b5 17
bwang 24:f1ff9c7256b5 18 Clarke(-(I_b + I_c), I_b, &alpha, &beta);
bwang 11:dccbaa9274c5 19 Parke(alpha, beta, angle, &d, &q);
bwang 11:dccbaa9274c5 20
nki 27:846c08fb3697 21 dbg_ialpha = alpha;
nki 27:846c08fb3697 22 dbg_ibeta = beta;
nki 27:846c08fb3697 23
nki 27:846c08fb3697 24 d_filtered = c->filter_d->Update(d);
nki 27:846c08fb3697 25 q_filtered = c->filter_q->Update(q);
nki 27:846c08fb3697 26
nki 27:846c08fb3697 27 /*
nki 27:846c08fb3697 28
nki 27:846c08fb3697 29 //these envelope d and q about 0. the envelope looks like this:
nki 27:846c08fb3697 30 // X= -1 0 1
nki 27:846c08fb3697 31 // ____| | |____
nki 27:846c08fb3697 32 // \___/
nki 27:846c08fb3697 33 if(d_filtered < 1.0f & d_filtered > -1.0f) d_filtered = 0.0f;
nki 27:846c08fb3697 34 if(d_filtered < 2.0f & d_filtered >= 1.0f) d_filtered = (d_filtered-1.0f)*d_filtered;
nki 27:846c08fb3697 35 if(d_filtered > -2.0f & d_filtered <= -1.0f) d_filtered = (-d_filtered-1.0f)*d_filtered;
nki 27:846c08fb3697 36
nki 27:846c08fb3697 37 if(q_filtered < 1.0f & q_filtered > -1.0f) q_filtered = 0.0f;
nki 27:846c08fb3697 38 if(q_filtered < 2.0f & q_filtered >= 1.0f) q_filtered = (q_filtered-1.0f)*q_filtered;
nki 27:846c08fb3697 39 if(q_filtered > -2.0f & q_filtered <= -1.0f) q_filtered = (-q_filtered-1.0f)*q_filtered;
nki 27:846c08fb3697 40 */
nki 27:846c08fb3697 41
nki 27:846c08fb3697 42 dbg_d_filtered = d_filtered;
nki 27:846c08fb3697 43 dbg_q_filtered = q_filtered;
nki 27:846c08fb3697 44
bwang 11:dccbaa9274c5 45
nki 27:846c08fb3697 46 c->reference->GetReference(angle, -c->user->throttle, &ref_d, &ref_q);
bwang 24:f1ff9c7256b5 47
bwang 24:f1ff9c7256b5 48 dbg_ref_d = ref_d;
bwang 24:f1ff9c7256b5 49 dbg_ref_q = ref_q;
bwang 24:f1ff9c7256b5 50 dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered);
bwang 24:f1ff9c7256b5 51 dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered);
bwang 11:dccbaa9274c5 52
nki 25:0003b824dd7d 53 /*
bwang 11:dccbaa9274c5 54 vd = 0.0f;
bwang 11:dccbaa9274c5 55 vq = c->user->throttle;
nki 25:0003b824dd7d 56 */
nki 27:846c08fb3697 57
nki 25:0003b824dd7d 58 vd = 0.05f;
nki 25:0003b824dd7d 59 vq = 0.95f;
nki 27:846c08fb3697 60
nki 27:846c08fb3697 61
bwang 11:dccbaa9274c5 62 InverseParke(vd, vq, angle, &valpha, &vbeta);
bwang 11:dccbaa9274c5 63
bwang 11:dccbaa9274c5 64 c->modulator->Update(valpha, vbeta);
bwang 11:dccbaa9274c5 65 }
bwang 11:dccbaa9274c5 66
bwang 11:dccbaa9274c5 67 void slow(Context *c) {
bwang 11:dccbaa9274c5 68 c->user->UpdateThrottle();
bwang 11:dccbaa9274c5 69 }
bwang 11:dccbaa9274c5 70
bwang 11:dccbaa9274c5 71 void debug(Context *c) {
nki 29:cb03760ba9ea 72 c->serial->printf("CR1:%x CR2:%x SMPR1:%x SMPR2:%x\n\r", ADC1->CR1, ADC1->CR2, ADC1->SMPR1, ADC1->SMPR2);
bwang 24:f1ff9c7256b5 73 }
bwang 24:f1ff9c7256b5 74
bwang 24:f1ff9c7256b5 75 void log(Context *c) {
bwang 24:f1ff9c7256b5 76 //c->debugger->Write(0, dbg_ib);
bwang 24:f1ff9c7256b5 77 //c->debugger->Write(1, dbg_ic);
bwang 11:dccbaa9274c5 78 }