Bayley Wang
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priustroller_3
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callbacks.cpp@35:83cf9564bd0c, 2015-03-16 (annotated)
- Committer:
- bwang
- Date:
- Mon Mar 16 15:40:07 2015 +0000
- Revision:
- 35:83cf9564bd0c
- Parent:
- 34:bfe180de813a
Set for 3A Iq, 0A Id, Ki = 1e-3, Kp = Kd = 0, loop still oscillates but is passable
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 | |
nki | 34:bfe180de813a | 20 | dbg_d_filtered = d_filtered = c->filter_q->Update(q); //swapped |
nki | 34:bfe180de813a | 21 | dbg_q_filtered = q_filtered = -c->filter_d->Update(d); //these and added a negative on this line. |
nki | 34:bfe180de813a | 22 | |
nki | 34:bfe180de813a | 23 | //The necessary changes were analytically determined by observing that a postive vd command corresponded to a reading of negative q axis torque |
nki | 34:bfe180de813a | 24 | //and that a positive vq command produced a reading of positive d axis torque. |
nki | 34:bfe180de813a | 25 | //This may be the final step in aligning the handedness of the reference and the output. |
bwang | 11:dccbaa9274c5 | 26 | |
nki | 33:e7b132029bae | 27 | c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q); |
bwang | 24:f1ff9c7256b5 | 28 | |
bwang | 24:f1ff9c7256b5 | 29 | dbg_ref_d = ref_d; |
bwang | 24:f1ff9c7256b5 | 30 | dbg_ref_q = ref_q; |
bwang | 24:f1ff9c7256b5 | 31 | dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered); |
bwang | 24:f1ff9c7256b5 | 32 | dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered); |
bwang | 11:dccbaa9274c5 | 33 | |
nki | 34:bfe180de813a | 34 | InverseParke(vd, vq, angle, &valpha, &vbeta); |
nki | 27:846c08fb3697 | 35 | |
nki | 34:bfe180de813a | 36 | dbg_valpha = valpha; |
nki | 34:bfe180de813a | 37 | dbg_vbeta = vbeta; |
bwang | 11:dccbaa9274c5 | 38 | |
bwang | 11:dccbaa9274c5 | 39 | c->modulator->Update(valpha, vbeta); |
bwang | 11:dccbaa9274c5 | 40 | } |
bwang | 11:dccbaa9274c5 | 41 | |
bwang | 11:dccbaa9274c5 | 42 | void slow(Context *c) { |
bwang | 11:dccbaa9274c5 | 43 | c->user->UpdateThrottle(); |
bwang | 11:dccbaa9274c5 | 44 | } |
bwang | 11:dccbaa9274c5 | 45 | |
bwang | 11:dccbaa9274c5 | 46 | void debug(Context *c) { |
nki | 30:2b6d426f3bfc | 47 | //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); |
nki | 34:bfe180de813a | 48 | //c->serial->printf("%f %f %f %f\n\r", dbg_d_filtered, dbg_q_filtered); |
bwang | 24:f1ff9c7256b5 | 49 | } |
bwang | 24:f1ff9c7256b5 | 50 | |
bwang | 24:f1ff9c7256b5 | 51 | void log(Context *c) { |
bwang | 35:83cf9564bd0c | 52 | //c->debugger->Write(0, dbg_d_filtered); |
bwang | 35:83cf9564bd0c | 53 | //c->debugger->Write(1, dbg_q_filtered); |
bwang | 11:dccbaa9274c5 | 54 | } |