Bayley Wang
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priustroller_3
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main.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 "callbacks.h" 00009 00010 int main() { 00011 Context *context = new Context(); 00012 context->ConfigureOutputs(D6, D13, D3, D8); 00013 context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f); 00014 context->ConfigureIdPidController(0.001f, 0.0f, 0.0f, 1.0f, -1.0f); 00015 context->ConfigureIqPidController(0.001f, 0.0f, 0.0f, 1.0f, -1.0f); 00016 context->ConfigureThrottle(A0, 0.8f, 3.0f); 00017 context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f); 00018 context->ConfigureReference(3.0f); // max phase current 00019 context->ConfigureDebugger(2, 2000); 00020 context->AttachCallBack(&fast, 5000); 00021 context->AttachCallBack(&slow, 10); 00022 context->AttachCallBack(&debug, 10); 00023 context->AttachCallBack(&log, 500); 00024 context->Start(); 00025 }
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