Bayley Wang
/
priustroller_3
temp repo
Fork of priustroller_2 by
Embed:
(wiki syntax)
Show/hide line numbers
callbacks.cpp
00001 #include "includes.h" 00002 #include "transforms.h" 00003 #include "filters.h" 00004 #include "context.h" 00005 #include "core.h" 00006 #include "meta.h" 00007 #include "sensors.h" 00008 #include "debug.h" 00009 00010 void fast(Context *c) { 00011 float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta; 00012 float I_b, I_c, angle, d_filtered, q_filtered, vd, vq; 00013 dbg_ib = I_b = c->motor->GetCurrentB(); 00014 dbg_ic = I_c = c->motor->GetCurrentC(); 00015 dbg_angle = angle = c->motor->GetPosition(); 00016 00017 Clarke(-(I_b + I_c), I_b, &alpha, &beta); 00018 Parke(alpha, beta, angle, &d, &q); 00019 00020 dbg_d_filtered = d_filtered = c->filter_q->Update(q); //swapped 00021 dbg_q_filtered = q_filtered = -c->filter_d->Update(d); //these and added a negative on this line. 00022 00023 //The necessary changes were analytically determined by observing that a postive vd command corresponded to a reading of negative q axis torque 00024 //and that a positive vq command produced a reading of positive d axis torque. 00025 //This may be the final step in aligning the handedness of the reference and the output. 00026 00027 c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q); 00028 00029 dbg_ref_d = ref_d; 00030 dbg_ref_q = ref_q; 00031 dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered); 00032 dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered); 00033 00034 InverseParke(vd, vq, angle, &valpha, &vbeta); 00035 00036 dbg_valpha = valpha; 00037 dbg_vbeta = vbeta; 00038 00039 c->modulator->Update(valpha, vbeta); 00040 } 00041 00042 void slow(Context *c) { 00043 c->user->UpdateThrottle(); 00044 } 00045 00046 void debug(Context *c) { 00047 //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); 00048 //c->serial->printf("%f %f %f %f\n\r", dbg_d_filtered, dbg_q_filtered); 00049 } 00050 00051 void log(Context *c) { 00052 //c->debugger->Write(0, dbg_d_filtered); 00053 //c->debugger->Write(1, dbg_q_filtered); 00054 }
Generated on Tue Jul 12 2022 20:58:06 by 1.7.2