Bayley Wang
/
priustroller_3
temp repo
Fork of priustroller_2 by
callbacks.cpp
- Committer:
- nki
- Date:
- 2015-03-14
- Revision:
- 27:846c08fb3697
- Parent:
- 25:0003b824dd7d
- Child:
- 29:cb03760ba9ea
File content as of revision 27:846c08fb3697:
#include "includes.h" #include "transforms.h" #include "filters.h" #include "context.h" #include "core.h" #include "meta.h" #include "sensors.h" #include "debug.h" void fast(Context *c) { float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta; float I_b, I_c, angle, d_filtered, q_filtered, vd, vq; dbg_ib = I_b = c->motor->GetCurrentB(); dbg_ic = I_c = c->motor->GetCurrentC(); dbg_angle = angle = c->motor->GetPosition(); Clarke(-(I_b + I_c), I_b, &alpha, &beta); Parke(alpha, beta, angle, &d, &q); dbg_ialpha = alpha; dbg_ibeta = beta; d_filtered = c->filter_d->Update(d); q_filtered = c->filter_q->Update(q); /* //these envelope d and q about 0. the envelope looks like this: // X= -1 0 1 // ____| | |____ // \___/ if(d_filtered < 1.0f & d_filtered > -1.0f) d_filtered = 0.0f; if(d_filtered < 2.0f & d_filtered >= 1.0f) d_filtered = (d_filtered-1.0f)*d_filtered; if(d_filtered > -2.0f & d_filtered <= -1.0f) d_filtered = (-d_filtered-1.0f)*d_filtered; if(q_filtered < 1.0f & q_filtered > -1.0f) q_filtered = 0.0f; if(q_filtered < 2.0f & q_filtered >= 1.0f) q_filtered = (q_filtered-1.0f)*q_filtered; if(q_filtered > -2.0f & q_filtered <= -1.0f) q_filtered = (-q_filtered-1.0f)*q_filtered; */ dbg_d_filtered = d_filtered; dbg_q_filtered = q_filtered; c->reference->GetReference(angle, -c->user->throttle, &ref_d, &ref_q); dbg_ref_d = ref_d; dbg_ref_q = ref_q; dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered); dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered); /* vd = 0.0f; vq = c->user->throttle; */ vd = 0.05f; vq = 0.95f; InverseParke(vd, vq, angle, &valpha, &vbeta); c->modulator->Update(valpha, vbeta); } void slow(Context *c) { c->user->UpdateThrottle(); } void debug(Context *c) { //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); //c->serial->printf("%f %f %f\n\r", dbg_angle, dbg_d_filtered, dbg_q_filtered); int temp = TIM2->SR & 1; //this checks to see if the UIF (update interrupt flag) is set high. (page 287) //c->serial->printf("%d %d %d %d %d\n\r", A0, A1, A2, PA_1, PA_4); c->serial->printf("%d %d\n\r", current1, current2); } void log(Context *c) { //c->debugger->Write(0, dbg_ib); //c->debugger->Write(1, dbg_ic); }