Bayley Wang
/
priustroller_3
temp repo
Fork of priustroller_2 by
Diff: callbacks.cpp
- Revision:
- 27:846c08fb3697
- Parent:
- 25:0003b824dd7d
- Child:
- 29:cb03760ba9ea
diff -r d00561c7bf43 -r 846c08fb3697 callbacks.cpp --- a/callbacks.cpp Tue Mar 10 17:51:38 2015 +0000 +++ b/callbacks.cpp Sat Mar 14 18:51:36 2015 +0000 @@ -17,10 +17,32 @@ Clarke(-(I_b + I_c), I_b, &alpha, &beta); Parke(alpha, beta, angle, &d, &q); - dbg_d_filtered = d_filtered = c->filter_d->Update(d); - dbg_q_filtered = q_filtered = c->filter_q->Update(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); + c->reference->GetReference(angle, -c->user->throttle, &ref_d, &ref_q); dbg_ref_d = ref_d; dbg_ref_q = ref_q; @@ -31,10 +53,11 @@ vd = 0.0f; vq = c->user->throttle; */ - /* + vd = 0.05f; vq = 0.95f; - */ + + InverseParke(vd, vq, angle, &valpha, &vbeta); c->modulator->Update(valpha, vbeta); @@ -45,7 +68,11 @@ } 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 %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) {