Bayley Wang
/
priustroller_3
temp repo
Fork of priustroller_2 by
callbacks.cpp@16:c10d0aa3c0e1, 2015-03-09 (annotated)
- Committer:
- bwang
- Date:
- Mon Mar 09 02:40:36 2015 +0000
- Revision:
- 16:c10d0aa3c0e1
- Parent:
- 13:79e247e54d78
- Child:
- 17:fd6771a6685a
reworked serial so that printing is possible even outside of contexts
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 | 11:dccbaa9274c5 | 8 | |
bwang | 12:c35ad58f6620 | 9 | #define dbg_d_filtered debug_registers[0] |
bwang | 12:c35ad58f6620 | 10 | #define dbg_q_filtered debug_registers[1] |
bwang | 13:79e247e54d78 | 11 | #define dbg_angle debug_registers[3] |
bwang | 12:c35ad58f6620 | 12 | |
bwang | 11:dccbaa9274c5 | 13 | void fast(Context *c) { |
bwang | 11:dccbaa9274c5 | 14 | float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta; |
bwang | 11:dccbaa9274c5 | 15 | float I_b, I_c, angle; |
bwang | 11:dccbaa9274c5 | 16 | I_b = c->motor->GetCurrentB(); |
bwang | 11:dccbaa9274c5 | 17 | I_c = c->motor->GetCurrentC(); |
bwang | 11:dccbaa9274c5 | 18 | angle = c->motor->GetPosition(); |
bwang | 13:79e247e54d78 | 19 | c->dbg_angle = angle; |
bwang | 11:dccbaa9274c5 | 20 | |
bwang | 12:c35ad58f6620 | 21 | Clarke(-(I_b + I_c), I_b, &alpha, &beta); //--switched to standard clarke transform |
bwang | 11:dccbaa9274c5 | 22 | Parke(alpha, beta, angle, &d, &q); |
bwang | 11:dccbaa9274c5 | 23 | |
bwang | 11:dccbaa9274c5 | 24 | float d_filtered = c->filter_d->Update(d); |
bwang | 12:c35ad58f6620 | 25 | float q_filtered = c->filter_q->Update(q); //--was Update(d), not sure if my typo or orignal |
bwang | 12:c35ad58f6620 | 26 | |
bwang | 12:c35ad58f6620 | 27 | c->dbg_d_filtered = d_filtered; |
bwang | 12:c35ad58f6620 | 28 | c->dbg_q_filtered = q_filtered; |
bwang | 11:dccbaa9274c5 | 29 | |
bwang | 11:dccbaa9274c5 | 30 | c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q); |
bwang | 11:dccbaa9274c5 | 31 | |
bwang | 11:dccbaa9274c5 | 32 | float vd = c->pid_d->Update(ref_d, d_filtered); |
bwang | 11:dccbaa9274c5 | 33 | float vq = c->pid_q->Update(ref_q, q_filtered); |
bwang | 11:dccbaa9274c5 | 34 | |
bwang | 11:dccbaa9274c5 | 35 | vd = 0.0f; |
bwang | 11:dccbaa9274c5 | 36 | vq = c->user->throttle; |
bwang | 11:dccbaa9274c5 | 37 | |
bwang | 11:dccbaa9274c5 | 38 | InverseParke(vd, vq, angle, &valpha, &vbeta); |
bwang | 11:dccbaa9274c5 | 39 | |
bwang | 11:dccbaa9274c5 | 40 | c->modulator->Update(valpha, vbeta); |
bwang | 11:dccbaa9274c5 | 41 | } |
bwang | 11:dccbaa9274c5 | 42 | |
bwang | 11:dccbaa9274c5 | 43 | void slow(Context *c) { |
bwang | 11:dccbaa9274c5 | 44 | c->user->UpdateThrottle(); |
bwang | 11:dccbaa9274c5 | 45 | } |
bwang | 11:dccbaa9274c5 | 46 | |
bwang | 11:dccbaa9274c5 | 47 | void debug(Context *c) { |
bwang | 16:c10d0aa3c0e1 | 48 | serial->printf("%f \n\r", c->dbg_angle); |
bwang | 11:dccbaa9274c5 | 49 | } |