N K
/
GaNtroller
a fork of priustroller
Fork of priustroller_current by
Diff: main.cpp
- Revision:
- 6:99ee0ce47fb2
- Parent:
- 5:ee1e6c84c302
- Child:
- 7:76d6ceb23e0d
- Child:
- 9:d3b70c15baa9
--- a/main.cpp Tue Mar 03 06:28:10 2015 +0000 +++ b/main.cpp Wed Mar 04 15:33:32 2015 +0000 @@ -4,26 +4,35 @@ #include "meta.h" Serial *pc = new Serial(SERIAL_TX, SERIAL_RX); +float test_alpha = 0; +float test_beta = 0; + + +float test_DtcA; +float test_DtcB; +float test_DtcC; int main() { pc->baud(115200); + pc->printf("%s\n\r", "Init Serial Comm"); + PositionSensor *sense_p = new AnalogHallPositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 200.0f); - CurrentSensor *sense_ia = new AnalogCurrentSensor(A1, 0.01); + CurrentSensor *sense_ic = new AnalogCurrentSensor(A1, 0.01); CurrentSensor *sense_ib = new AnalogCurrentSensor(A2, 0.01); VoltageSensor *sense_bus = new AnalogVoltageSensor(A5, 0.01); TempSensor *sense_t_motor = new TempSensor(); TempSensor *sense_t_inverter = new TempSensor(); Throttle *throttle = new Throttle(A0, 0.5f, 3.0f); - PidController *pid_d = new PidController(0.0f, 0.0f, 0.0f, 0.0f, 1.0f); - PidController *pid_q = new PidController (0.0f, 0.0f, 0.0f, 0.0f, 1.0f); + PidController *pid_d = new PidController(0.1f, 0.0f, 0.0f, 1.0f, 0.0f); + PidController *pid_q = new PidController (0.1f, 0.0f, 0.0f, 1.0f, 0.0f); - Motor *motor = new Motor(sense_ia, sense_ib, sense_p, sense_t_motor); + Motor *motor = new Motor(sense_ic, sense_ib, sense_p, sense_t_motor); Inverter *inverter = new Inverter(D6, D13, D3, D8, sense_bus, sense_t_inverter); User *user = new User(throttle); Modulator *modulator = new SinusoidalModulator(inverter); StatusUpdater *updater = new StatusUpdater(inverter, motor, user); - LoopDriver *driver = new LoopDriver(inverter, motor, user, pid_d, pid_q, modulator, 100.0f, 5000); + LoopDriver *driver = new LoopDriver(inverter, motor, user, pid_d, pid_q, modulator, 1.0f, 5000); motor->Config(4, 20.0f); updater->Config(5000, 10);