Diff: main.cpp

Revision:

131:031df63c7dbc

Parent:

130:639cd8586f86

Child:

132:101b74e4763a

--- a/main.cpp	Sun Apr 30 08:53:22 2017 +0000
+++ b/main.cpp	Mon May 01 04:04:52 2017 +0000
@@ -85,10 +85,15 @@
     control.d_integral += d_err * KI_D;
     control.q_integral += q_err * KI_Q;
     
-    constrain_norm(&control.d_integral, &control.q_integral, 1.0f, 1.0f, 1.0f);
+    constrain_norm(&control.d_integral, &control.q_integral, 1.0f, 1.0f, INTEGRAL_MAX);
+    
+    foc.vd_decouple = -Lq * POLE_PAIRS * read.w * foc.q / BUS_VOLTAGE / 2.0f;
+    foc.vq_decouple = Ld * POLE_PAIRS * read.w * foc.d / BUS_VOLTAGE / 2.0f;
     
-    foc.vd = KP_D * d_err + control.d_integral;// + Lq * POLE_PAIRS * read.w * foc.q / BUS_VOLTAGE / 2.0f;
-    foc.vq = KP_Q * q_err + control.q_integral;// - Ld * POLE_PAIRS * read.w * foc.d / BUS_VOLTAGE / 2.0f;
+    constrain_norm(&foc.vd_decouple, &foc.vq_decouple, 1.0f, 1.0f, 1.0f);
+    
+    foc.vd = KP_D * d_err + control.d_integral;// + foc.vd_decouple;
+    foc.vq = KP_Q * q_err + control.q_integral;// + foc.vq_decouple;
     
     constrain_norm(&foc.vd, &foc.vq, 1.0f, 1.0f, 1.0f);
     
@@ -155,9 +160,9 @@
 }
 
 void log() {
-    io.pc->printf("%d,%d,%d,%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_ref, (int) control.d_filtered, (int) control.q_ref, (int) control.q_filtered, (int) (255 * control.torque_percent), 
-                        (int) (255 * foc.vd), (int) (255 * foc.vq));
-    //io.pc->printf("%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_filtered, (int) control.q_filtered, (int) (255 * foc.vd), (int) (255 * foc.vq));
+    //io.pc->printf("%d,%d,%d,%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_ref, (int) control.d_filtered, (int) control.q_ref, (int) control.q_filtered, (int) (255 * control.torque_percent), 
+    //                    (int) (255 * foc.vd), (int) (255 * foc.vq));
+    io.pc->printf("%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_filtered, (int) control.q_filtered, (int) (255 * foc.vd_decouple), (int) (255 * foc.vq_decouple));
     wait(1.0f / LOG_FREQUENCY);
 }
         
@@ -180,7 +185,7 @@
 }
 
 int main() {
-    dq = new LutMapper();
+    dq = new DirectMapper(-82.0f, 22.0f);//LutMapper();
     th = new NullThrottleMapper();
     BREMSInit(&io, &read, &foc, &control, false);