Bayley Wang
/
priustroller_3
temp repo
Fork of priustroller_2 by
callbacks.cpp
- Committer:
- nki
- Date:
- 2015-03-16
- Revision:
- 34:bfe180de813a
- Parent:
- 33:e7b132029bae
- Child:
- 35:83cf9564bd0c
File content as of revision 34:bfe180de813a:
#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_d_filtered = d_filtered = c->filter_q->Update(q); //swapped dbg_q_filtered = q_filtered = -c->filter_d->Update(d); //these and added a negative on this line. //The necessary changes were analytically determined by observing that a postive vd command corresponded to a reading of negative q axis torque //and that a positive vq command produced a reading of positive d axis torque. //This may be the final step in aligning the handedness of the reference and the output. 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); InverseParke(vd, vq, angle, &valpha, &vbeta); dbg_valpha = valpha; dbg_vbeta = 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 %f\n\r", dbg_d_filtered, dbg_q_filtered); } void log(Context *c) { //c->debugger->Write(0, dbg_loop_d); //c->debugger->Write(1, dbg_loop_q); }