Bayley Wang
/
priustroller_3
temp repo
Fork of priustroller_2 by
callbacks.cpp@25:0003b824dd7d, 2015-03-10 (annotated)
- Committer:
- nki
- Date:
- Tue Mar 10 17:47:08 2015 +0000
- Revision:
- 25:0003b824dd7d
- Parent:
- 24:f1ff9c7256b5
- Child:
- 27:846c08fb3697
fixed swapped _kp and _kd in context.cpp; doesn't run great with the loop closed.;
Who changed what in which revision?
User | Revision | Line number | New 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(); |
bwang | 24:f1ff9c7256b5 | 15 | dbg_angle = angle = c->motor->GetPosition(); |
bwang | 24:f1ff9c7256b5 | 16 | |
bwang | 24:f1ff9c7256b5 | 17 | Clarke(-(I_b + I_c), I_b, &alpha, &beta); |
bwang | 11:dccbaa9274c5 | 18 | Parke(alpha, beta, angle, &d, &q); |
bwang | 11:dccbaa9274c5 | 19 | |
bwang | 24:f1ff9c7256b5 | 20 | dbg_d_filtered = d_filtered = c->filter_d->Update(d); |
bwang | 24:f1ff9c7256b5 | 21 | dbg_q_filtered = q_filtered = c->filter_q->Update(q); |
bwang | 11:dccbaa9274c5 | 22 | |
bwang | 11:dccbaa9274c5 | 23 | c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q); |
bwang | 24:f1ff9c7256b5 | 24 | |
bwang | 24:f1ff9c7256b5 | 25 | dbg_ref_d = ref_d; |
bwang | 24:f1ff9c7256b5 | 26 | dbg_ref_q = ref_q; |
bwang | 24:f1ff9c7256b5 | 27 | dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered); |
bwang | 24:f1ff9c7256b5 | 28 | dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered); |
bwang | 11:dccbaa9274c5 | 29 | |
nki | 25:0003b824dd7d | 30 | /* |
bwang | 11:dccbaa9274c5 | 31 | vd = 0.0f; |
bwang | 11:dccbaa9274c5 | 32 | vq = c->user->throttle; |
nki | 25:0003b824dd7d | 33 | */ |
nki | 25:0003b824dd7d | 34 | /* |
nki | 25:0003b824dd7d | 35 | vd = 0.05f; |
nki | 25:0003b824dd7d | 36 | vq = 0.95f; |
nki | 25:0003b824dd7d | 37 | */ |
bwang | 11:dccbaa9274c5 | 38 | InverseParke(vd, vq, angle, &valpha, &vbeta); |
bwang | 11:dccbaa9274c5 | 39 | |
bwang | 11:dccbaa9274c5 | 40 | c->modulator->Update(valpha, vbeta); |
bwang | 11:dccbaa9274c5 | 41 | } |
bwang | 11:dccbaa9274c5 | 42 | |
bwang | 11:dccbaa9274c5 | 43 | void slow(Context *c) { |
bwang | 11:dccbaa9274c5 | 44 | c->user->UpdateThrottle(); |
bwang | 11:dccbaa9274c5 | 45 | } |
bwang | 11:dccbaa9274c5 | 46 | |
bwang | 11:dccbaa9274c5 | 47 | void debug(Context *c) { |
nki | 25:0003b824dd7d | 48 | c->serial->printf("%f %f %f %f %f %f\n\r", dbg_d_filtered, dbg_q_filtered, dbg_ref_d, dbg_ref_q, dbg_loop_d, dbg_loop_q); |
bwang | 24:f1ff9c7256b5 | 49 | } |
bwang | 24:f1ff9c7256b5 | 50 | |
bwang | 24:f1ff9c7256b5 | 51 | void log(Context *c) { |
bwang | 24:f1ff9c7256b5 | 52 | //c->debugger->Write(0, dbg_ib); |
bwang | 24:f1ff9c7256b5 | 53 | //c->debugger->Write(1, dbg_ic); |
bwang | 11:dccbaa9274c5 | 54 | } |