Bayley Wang
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priustroller_3
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Fork of priustroller_2 by
callbacks.cpp@27:846c08fb3697, 2015-03-14 (annotated)
- Committer:
- nki
- Date:
- Sat Mar 14 18:51:36 2015 +0000
- Revision:
- 27:846c08fb3697
- Parent:
- 25:0003b824dd7d
- Child:
- 29:cb03760ba9ea
NONWORKING: debugging native ADC reading
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 11:dccbaa9274c5 | 1 | #include "includes.h" |
bwang | 11:dccbaa9274c5 | 2 | #include "transforms.h" |
bwang | 11:dccbaa9274c5 | 3 | #include "filters.h" |
bwang | 11:dccbaa9274c5 | 4 | #include "context.h" |
bwang | 11:dccbaa9274c5 | 5 | #include "core.h" |
bwang | 11:dccbaa9274c5 | 6 | #include "meta.h" |
bwang | 11:dccbaa9274c5 | 7 | #include "sensors.h" |
bwang | 24:f1ff9c7256b5 | 8 | #include "debug.h" |
bwang | 11:dccbaa9274c5 | 9 | |
bwang | 11:dccbaa9274c5 | 10 | void fast(Context *c) { |
bwang | 11:dccbaa9274c5 | 11 | float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta; |
nki | 21:da41c08e51bc | 12 | float I_b, I_c, angle, d_filtered, q_filtered, vd, vq; |
bwang | 24:f1ff9c7256b5 | 13 | dbg_ib = I_b = c->motor->GetCurrentB(); |
bwang | 24:f1ff9c7256b5 | 14 | dbg_ic = I_c = c->motor->GetCurrentC(); |
bwang | 24:f1ff9c7256b5 | 15 | dbg_angle = angle = c->motor->GetPosition(); |
bwang | 24:f1ff9c7256b5 | 16 | |
bwang | 24:f1ff9c7256b5 | 17 | Clarke(-(I_b + I_c), I_b, &alpha, &beta); |
bwang | 11:dccbaa9274c5 | 18 | Parke(alpha, beta, angle, &d, &q); |
bwang | 11:dccbaa9274c5 | 19 | |
nki | 27:846c08fb3697 | 20 | dbg_ialpha = alpha; |
nki | 27:846c08fb3697 | 21 | dbg_ibeta = beta; |
nki | 27:846c08fb3697 | 22 | |
nki | 27:846c08fb3697 | 23 | d_filtered = c->filter_d->Update(d); |
nki | 27:846c08fb3697 | 24 | q_filtered = c->filter_q->Update(q); |
nki | 27:846c08fb3697 | 25 | |
nki | 27:846c08fb3697 | 26 | /* |
nki | 27:846c08fb3697 | 27 | |
nki | 27:846c08fb3697 | 28 | //these envelope d and q about 0. the envelope looks like this: |
nki | 27:846c08fb3697 | 29 | // X= -1 0 1 |
nki | 27:846c08fb3697 | 30 | // ____| | |____ |
nki | 27:846c08fb3697 | 31 | // \___/ |
nki | 27:846c08fb3697 | 32 | if(d_filtered < 1.0f & d_filtered > -1.0f) d_filtered = 0.0f; |
nki | 27:846c08fb3697 | 33 | if(d_filtered < 2.0f & d_filtered >= 1.0f) d_filtered = (d_filtered-1.0f)*d_filtered; |
nki | 27:846c08fb3697 | 34 | if(d_filtered > -2.0f & d_filtered <= -1.0f) d_filtered = (-d_filtered-1.0f)*d_filtered; |
nki | 27:846c08fb3697 | 35 | |
nki | 27:846c08fb3697 | 36 | if(q_filtered < 1.0f & q_filtered > -1.0f) q_filtered = 0.0f; |
nki | 27:846c08fb3697 | 37 | if(q_filtered < 2.0f & q_filtered >= 1.0f) q_filtered = (q_filtered-1.0f)*q_filtered; |
nki | 27:846c08fb3697 | 38 | if(q_filtered > -2.0f & q_filtered <= -1.0f) q_filtered = (-q_filtered-1.0f)*q_filtered; |
nki | 27:846c08fb3697 | 39 | */ |
nki | 27:846c08fb3697 | 40 | |
nki | 27:846c08fb3697 | 41 | dbg_d_filtered = d_filtered; |
nki | 27:846c08fb3697 | 42 | dbg_q_filtered = q_filtered; |
nki | 27:846c08fb3697 | 43 | |
bwang | 11:dccbaa9274c5 | 44 | |
nki | 27:846c08fb3697 | 45 | c->reference->GetReference(angle, -c->user->throttle, &ref_d, &ref_q); |
bwang | 24:f1ff9c7256b5 | 46 | |
bwang | 24:f1ff9c7256b5 | 47 | dbg_ref_d = ref_d; |
bwang | 24:f1ff9c7256b5 | 48 | dbg_ref_q = ref_q; |
bwang | 24:f1ff9c7256b5 | 49 | dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered); |
bwang | 24:f1ff9c7256b5 | 50 | dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered); |
bwang | 11:dccbaa9274c5 | 51 | |
nki | 25:0003b824dd7d | 52 | /* |
bwang | 11:dccbaa9274c5 | 53 | vd = 0.0f; |
bwang | 11:dccbaa9274c5 | 54 | vq = c->user->throttle; |
nki | 25:0003b824dd7d | 55 | */ |
nki | 27:846c08fb3697 | 56 | |
nki | 25:0003b824dd7d | 57 | vd = 0.05f; |
nki | 25:0003b824dd7d | 58 | vq = 0.95f; |
nki | 27:846c08fb3697 | 59 | |
nki | 27:846c08fb3697 | 60 | |
bwang | 11:dccbaa9274c5 | 61 | InverseParke(vd, vq, angle, &valpha, &vbeta); |
bwang | 11:dccbaa9274c5 | 62 | |
bwang | 11:dccbaa9274c5 | 63 | c->modulator->Update(valpha, vbeta); |
bwang | 11:dccbaa9274c5 | 64 | } |
bwang | 11:dccbaa9274c5 | 65 | |
bwang | 11:dccbaa9274c5 | 66 | void slow(Context *c) { |
bwang | 11:dccbaa9274c5 | 67 | c->user->UpdateThrottle(); |
bwang | 11:dccbaa9274c5 | 68 | } |
bwang | 11:dccbaa9274c5 | 69 | |
bwang | 11:dccbaa9274c5 | 70 | void debug(Context *c) { |
nki | 27:846c08fb3697 | 71 | //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); |
nki | 27:846c08fb3697 | 72 | //c->serial->printf("%f %f %f\n\r", dbg_angle, dbg_d_filtered, dbg_q_filtered); |
nki | 27:846c08fb3697 | 73 | int temp = TIM2->SR & 1; //this checks to see if the UIF (update interrupt flag) is set high. (page 287) |
nki | 27:846c08fb3697 | 74 | //c->serial->printf("%d %d %d %d %d\n\r", A0, A1, A2, PA_1, PA_4); |
nki | 27:846c08fb3697 | 75 | c->serial->printf("%d %d\n\r", current1, current2); |
bwang | 24:f1ff9c7256b5 | 76 | } |
bwang | 24:f1ff9c7256b5 | 77 | |
bwang | 24:f1ff9c7256b5 | 78 | void log(Context *c) { |
bwang | 24:f1ff9c7256b5 | 79 | //c->debugger->Write(0, dbg_ib); |
bwang | 24:f1ff9c7256b5 | 80 | //c->debugger->Write(1, dbg_ic); |
bwang | 11:dccbaa9274c5 | 81 | } |