Bayley Wang
/
priustroller_3
temp repo
Fork of priustroller_2 by
Diff: context.cpp
- Revision:
- 33:e7b132029bae
- Parent:
- 31:86b87913d8e1
--- a/context.cpp Mon Mar 16 02:43:19 2015 +0000 +++ b/context.cpp Mon Mar 16 03:09:48 2015 +0000 @@ -71,7 +71,9 @@ _callbacks[_index++] = f; } -void Context::Start() { +void Context::Start() { + InitData(); + for (;;) { for (int i = 0; i < _index; i++) { if (_time - _call_times[i] >= _call_periods[i]) { @@ -88,17 +90,9 @@ } void Context::InitData() { - serial = new Serial(USBTX, USBRX); - serial->baud(115200); - serial->printf("%s\n\r", "Init Serial Communications"); - sense_p = new AnalogHallPositionSensor(_pos_a_pin, _pos_b_pin, _cal1_a, _cal2_a, _cal1_b, _cal2_b, _offset); - channel_ib = NativeAnalogIn::PinToAdcChannel(_ib_pin); - channel_ic = NativeAnalogIn::PinToAdcChannel(_ic_pin); - AnalogIn dummyb = AnalogIn(_ib_pin); - AnalogIn dummyc = AnalogIn(_ic_pin); - _dummyb = dummyb; - _dummyc = dummyc; + sense_ib = new AnalogCurrentSensor(_ib_pin, _scale); + sense_ic = new AnalogCurrentSensor(_ic_pin, _scale); throttle = new Throttle(_throttle_pin, _min, _max); sense_bus = new VoltageSensor(); sense_t_motor = new TempSensor(); @@ -107,7 +101,7 @@ pid_d = new PidController(_dki, _dkp, _dkd, _dpidmax, _dpidmin); pid_q = new PidController(_qki, _qkp, _qkd, _qpidmax, _qpidmin); - motor = new Motor(sense_p, sense_t_motor); + motor = new Motor(sense_ic, sense_ib, sense_p, sense_t_motor); inverter = new Inverter(_oa, _ob, _oc, _en, sense_bus, sense_t_inverter); user = new User(throttle); modulator = new SvmModulator(inverter); @@ -115,30 +109,9 @@ filter_d = new MeanFilter(_filter_strength); filter_q = new MeanFilter(_filter_strength); - wait(1); - - double ib_mean, ic_mean; - TIM2->DIER = 0; - for (int i = 0; i < 100; i++) { - ADC1->SQR3 = 0; - ADC1->SQR3 |= channel_ib; - ADC1->CR2 |= ADC_CR2_SWSTART; - while ((ADC1->SR & 2) == 0){} - ib_mean += (float) ADC1->DR; - - ADC1->SQR3 = 0; - ADC1->SQR3 |= channel_ic; - ADC1->CR2 |= ADC_CR2_SWSTART; - while ((ADC1->SR & 2) == 0){} - ic_mean += (float) ADC1->DR; - } - TIM2->DIER = 1; - ib_mean /= 100.0f; - ib_mean /= 4095.0f; - ic_mean /= 100.0f; - ic_mean /= 4095.0f; - - motor->InitSensors((float) ib_mean, (float) ic_mean, _scale); + serial = new Serial(USBTX, USBRX); + serial->baud(115200); + serial->printf("%s\n\r", "Init Serial Communications"); debugger = new BufferedDebugger(this, _debugger_channels, _debugger_size); }