N K
/
GaNtroller
a fork of priustroller
Fork of priustroller_current by
main.cpp@42:e4f35ff78d91, 2015-04-16 (annotated)
- Committer:
- bwang
- Date:
- Thu Apr 16 22:55:21 2015 +0000
- Revision:
- 42:e4f35ff78d91
- Parent:
- 38:232c51b6853f
- Child:
- 46:bd39f7e6e37f
Scrapped everything for some test code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 0:54cf32d35f4d | 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 | 1:1f58bdcf2956 | 5 | #include "core.h" |
bwang | 1:1f58bdcf2956 | 6 | #include "meta.h" |
bwang | 11:dccbaa9274c5 | 7 | #include "sensors.h" |
bwang | 11:dccbaa9274c5 | 8 | #include "callbacks.h" |
nki | 27:846c08fb3697 | 9 | |
bwang | 11:dccbaa9274c5 | 10 | int main() { |
bwang | 42:e4f35ff78d91 | 11 | Context *context = new Context(false); |
nki | 36:11766b5da6ed | 12 | context->ConfigureOutputs(D13, D3, D6, D2); |
nki | 33:e7b132029bae | 13 | context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f); |
nki | 37:09373294ff22 | 14 | context->ConfigureIdPidController(0.00001f, 0.0f, 0.0f, 1.0f, -1.0f); |
nki | 37:09373294ff22 | 15 | context->ConfigureIqPidController(0.00001f, 0.0f, 0.0f, 1.0f, -1.0f); |
nki | 36:11766b5da6ed | 16 | context->ConfigureThrottle(A0, 0.9f, 2.5f, 0.8f); //last term is LPF strength |
nki | 36:11766b5da6ed | 17 | context->ConfigurePositionSensor(A3, A4, 0.366f, 0.655f, 0.355f, 0.626f, 205.0f); |
nki | 36:11766b5da6ed | 18 | context->ConfigureReference(80.0f); // max phase current |
bwang | 42:e4f35ff78d91 | 19 | //context->ConfigureDebugger(2, 4000); |
bwang | 42:e4f35ff78d91 | 20 | for (;;) { |
bwang | 42:e4f35ff78d91 | 21 | fast_test2(context); |
bwang | 42:e4f35ff78d91 | 22 | } |
bwang | 42:e4f35ff78d91 | 23 | /* |
bwang | 42:e4f35ff78d91 | 24 | context->AttachCallBack(&fast, 5000); |
bwang | 38:232c51b6853f | 25 | context->AttachCallBack(&fast_test, 5000); |
bwang | 38:232c51b6853f | 26 | context->AttachCallBack(&slow, 20); |
bwang | 11:dccbaa9274c5 | 27 | context->AttachCallBack(&debug, 10); |
bwang | 24:f1ff9c7256b5 | 28 | context->AttachCallBack(&log, 500); |
bwang | 11:dccbaa9274c5 | 29 | context->Start(); |
bwang | 42:e4f35ff78d91 | 30 | */ |
bwang | 0:54cf32d35f4d | 31 | } |