Bayley Wang
/
priustroller_3
temp repo
Fork of priustroller_2 by
Diff: context.h
- Revision:
- 26:d00561c7bf43
- Parent:
- 24:f1ff9c7256b5
- Child:
- 29:cb03760ba9ea
--- a/context.h Tue Mar 10 17:47:08 2015 +0000 +++ b/context.h Tue Mar 10 17:51:38 2015 +0000 @@ -16,7 +16,8 @@ Context(); void ConfigureOutputs(PinName oa, PinName ob, PinName oc, PinName en); void ConfigureCurrentSensors(PinName ib_pin, PinName ic_pin, float scale, float filter_strength); - void ConfigurePidControllers(float ki, float kp, float kd, float pidmin, float pidmax); + void ConfigureIdPidController(float ki, float kp, float kd, float pidmin, float pidmax); + void ConfigureIqPidController(float ki, float kp, float kd, float pidmin, float pidmax); void ConfigureThrottle(PinName throttle_pin, float min, float max); void ConfigurePositionSensor(PinName pos_a_pin, PinName pos_b_pin, float cal1_a, float cal2_a, float cal1_b, float cal2_b, float offset); void ConfigureReference(float max_current); @@ -44,9 +45,10 @@ void upd_function(); private: PinName _oa, _ob, _oc, _ib_pin, _ic_pin, _throttle_pin, _pos_a_pin, _pos_b_pin, _en; - float _ki, _kp, _kd, _min, _max, _cal1_a, _cal2_a, _cal1_b, _cal2_b, _scale, _offset, _max_current, _filter_strength; + float _dki, _dkp, _dkd, _qki, _qkp, _qkd, _min, _max, _cal1_a, _cal2_a, + _cal1_b, _cal2_b, _scale, _offset, _max_current, _filter_strength; int _debugger_channels, _debugger_size; - float _pidmax, _pidmin; + float _dpidmax, _dpidmin, _qpidmax, _qpidmin; void (*_callbacks[16])(Context *); unsigned long _call_times[16]; int _call_periods[16];