Bayley Wang / Mbed 2 deprecated priustroller_3

temp repo

Dependencies:   mbed

Fork of priustroller_2 by N K

core/core.h@35:83cf9564bd0c, 2015-03-16 (annotated)

Committer:
bwang
Date:
Mon Mar 16 15:40:07 2015 +0000
Revision:
35:83cf9564bd0c
Parent:
33:e7b132029bae 
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
bwang 1:1f58bdcf2956 1 #ifndef __CORE_H
bwang 1:1f58bdcf2956 2 #define __CORE_H
bwang 1:1f58bdcf2956 3
bwang 1:1f58bdcf2956 4 #include "includes.h"
bwang 1:1f58bdcf2956 5 #include "sensors.h"
bwang 1:1f58bdcf2956 6
bwang 1:1f58bdcf2956 7 class Motor;
bwang 1:1f58bdcf2956 8 class Inverter;
bwang 1:1f58bdcf2956 9 class CurrentSensor;
bwang 1:1f58bdcf2956 10 class VoltageSensor;
bwang 1:1f58bdcf2956 11 class PositionSensor;
bwang 1:1f58bdcf2956 12 class TempSensor;
bwang 1:1f58bdcf2956 13
bwang 1:1f58bdcf2956 14 class Motor {
bwang 1:1f58bdcf2956 15 public:
nki 33:e7b132029bae 16 Motor(CurrentSensor *sense_c, CurrentSensor *sense_b, PositionSensor *sense_p, TempSensor *sense_t);
bwang 1:1f58bdcf2956 17 void Config(int num_poles, float kv);
bwang 11:dccbaa9274c5 18 float GetCurrentC();
bwang 11:dccbaa9274c5 19 float GetCurrentB();
bwang 11:dccbaa9274c5 20 float GetPosition();
bwang 11:dccbaa9274c5 21 float GetTemp();
bwang 1:1f58bdcf2956 22 private:
nki 33:e7b132029bae 23 CurrentSensor *_sense_c,*_sense_b;
bwang 1:1f58bdcf2956 24 PositionSensor *_sense_p;
bwang 1:1f58bdcf2956 25 TempSensor *_sense_t;
bwang 1:1f58bdcf2956 26 int _num_poles;
bwang 1:1f58bdcf2956 27 float _kv;
bwang 1:1f58bdcf2956 28 };
bwang 1:1f58bdcf2956 29
bwang 1:1f58bdcf2956 30 class Inverter {
bwang 1:1f58bdcf2956 31 public:
bwang 1:1f58bdcf2956 32 Inverter(PinName ph_a, PinName ph_b, PinName ph_c, PinName en, VoltageSensor *sense_bus, TempSensor *sense_t);
bwang 1:1f58bdcf2956 33 void SetDtcA(float dtc);
bwang 1:1f58bdcf2956 34 void SetDtcB(float dtc);
bwang 1:1f58bdcf2956 35 void SetDtcC(float dtc);
bwang 1:1f58bdcf2956 36 void Disable();
bwang 1:1f58bdcf2956 37 void Enable();
bwang 11:dccbaa9274c5 38 float GetVbus();
bwang 11:dccbaa9274c5 39 float GetTemp();
bwang 1:1f58bdcf2956 40 private:
bwang 1:1f58bdcf2956 41 PwmOut *_pwm_a, *_pwm_b, *_pwm_c;
bwang 1:1f58bdcf2956 42 DigitalOut *_en;
bwang 1:1f58bdcf2956 43 VoltageSensor *_sense_bus;
bwang 1:1f58bdcf2956 44 TempSensor *_sense_t;
bwang 1:1f58bdcf2956 45 };
bwang 1:1f58bdcf2956 46
bwang 1:1f58bdcf2956 47 class User {
bwang 1:1f58bdcf2956 48 public:
bwang 1:1f58bdcf2956 49 User(Throttle *throttle) {_throttle = throttle;}
bwang 1:1f58bdcf2956 50 void UpdateThrottle() {throttle = _throttle->GetThrottle();}
bwang 1:1f58bdcf2956 51 public:
bwang 1:1f58bdcf2956 52 float throttle;
bwang 1:1f58bdcf2956 53 private:
bwang 1:1f58bdcf2956 54 Throttle *_throttle;
bwang 1:1f58bdcf2956 55 };
bwang 1:1f58bdcf2956 56
bwang 1:1f58bdcf2956 57 #endif