N K
/
GaNtroller
a fork of priustroller
Fork of priustroller_current by
callbacks.cpp@38:232c51b6853f, 2015-04-16 (annotated)
- Committer:
- bwang
- Date:
- Thu Apr 16 21:57:38 2015 +0000
- Revision:
- 38:232c51b6853f
- Parent:
- 37:09373294ff22
- Child:
- 39:6f3d08745cd9
Revert to basic open loop control for debugging
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 11:dccbaa9274c5 | 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 | 11:dccbaa9274c5 | 5 | #include "core.h" |
bwang | 11:dccbaa9274c5 | 6 | #include "meta.h" |
bwang | 11:dccbaa9274c5 | 7 | #include "sensors.h" |
bwang | 24:f1ff9c7256b5 | 8 | #include "debug.h" |
bwang | 11:dccbaa9274c5 | 9 | |
bwang | 11:dccbaa9274c5 | 10 | void fast(Context *c) { |
bwang | 11:dccbaa9274c5 | 11 | float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta; |
nki | 21:da41c08e51bc | 12 | float I_b, I_c, angle, d_filtered, q_filtered, vd, vq; |
bwang | 24:f1ff9c7256b5 | 13 | dbg_ib = I_b = c->motor->GetCurrentB(); |
bwang | 24:f1ff9c7256b5 | 14 | dbg_ic = I_c = c->motor->GetCurrentC(); |
bwang | 24:f1ff9c7256b5 | 15 | dbg_angle = angle = c->motor->GetPosition(); |
bwang | 24:f1ff9c7256b5 | 16 | |
bwang | 24:f1ff9c7256b5 | 17 | Clarke(-(I_b + I_c), I_b, &alpha, &beta); |
bwang | 11:dccbaa9274c5 | 18 | Parke(alpha, beta, angle, &d, &q); |
bwang | 11:dccbaa9274c5 | 19 | |
nki | 34:bfe180de813a | 20 | dbg_d_filtered = d_filtered = c->filter_q->Update(q); //swapped |
nki | 34:bfe180de813a | 21 | dbg_q_filtered = q_filtered = -c->filter_d->Update(d); //these and added a negative on this line. |
nki | 34:bfe180de813a | 22 | |
nki | 34:bfe180de813a | 23 | //The necessary changes were analytically determined by observing that a postive vd command corresponded to a reading of negative q axis torque |
nki | 34:bfe180de813a | 24 | //and that a positive vq command produced a reading of positive d axis torque. |
nki | 34:bfe180de813a | 25 | //This may be the final step in aligning the handedness of the reference and the output. |
nki | 36:11766b5da6ed | 26 | |
nki | 33:e7b132029bae | 27 | c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q); |
bwang | 24:f1ff9c7256b5 | 28 | |
bwang | 24:f1ff9c7256b5 | 29 | dbg_ref_d = ref_d; |
bwang | 24:f1ff9c7256b5 | 30 | dbg_ref_q = ref_q; |
bwang | 24:f1ff9c7256b5 | 31 | dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered); |
bwang | 24:f1ff9c7256b5 | 32 | dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered); |
bwang | 11:dccbaa9274c5 | 33 | |
nki | 37:09373294ff22 | 34 | dbg_loop_d = vd = 0.0f; |
bwang | 38:232c51b6853f | 35 | dbg_loop_q = vq = c->user->throttle / 2.0f; |
bwang | 38:232c51b6853f | 36 | |
nki | 36:11766b5da6ed | 37 | /* |
nki | 36:11766b5da6ed | 38 | if(c->user->throttle <= 0.1f){ |
nki | 36:11766b5da6ed | 39 | float ramp = (c->user->throttle*10.0f)*(c->user->throttle*10.0f); |
nki | 36:11766b5da6ed | 40 | vd = ramp*vd; |
nki | 36:11766b5da6ed | 41 | vq = ramp*vq; |
bwang | 38:232c51b6853f | 42 | } |
nki | 36:11766b5da6ed | 43 | |
nki | 36:11766b5da6ed | 44 | dbg_loop_d = vd; |
nki | 36:11766b5da6ed | 45 | dbg_loop_q = vq; |
bwang | 38:232c51b6853f | 46 | */ |
nki | 36:11766b5da6ed | 47 | |
nki | 34:bfe180de813a | 48 | InverseParke(vd, vq, angle, &valpha, &vbeta); |
nki | 27:846c08fb3697 | 49 | |
nki | 34:bfe180de813a | 50 | dbg_valpha = valpha; |
nki | 34:bfe180de813a | 51 | dbg_vbeta = vbeta; |
bwang | 11:dccbaa9274c5 | 52 | |
bwang | 11:dccbaa9274c5 | 53 | c->modulator->Update(valpha, vbeta); |
bwang | 11:dccbaa9274c5 | 54 | } |
bwang | 11:dccbaa9274c5 | 55 | |
bwang | 38:232c51b6853f | 56 | void fast_test(Context *c) { |
bwang | 38:232c51b6853f | 57 | float angle, angle120, angle240; |
bwang | 38:232c51b6853f | 58 | angle = c->motor->GetPosition(); |
bwang | 38:232c51b6853f | 59 | angle120 = angle + 120.0f; |
bwang | 38:232c51b6853f | 60 | if (angle120 >= 360.0f) angle120 -= 360.0f; |
bwang | 38:232c51b6853f | 61 | if (angle120 < 0.0f) angle120 += 360.0f; |
bwang | 38:232c51b6853f | 62 | angle240 = angle -120.0f; |
bwang | 38:232c51b6853f | 63 | if (angle120 >= 360.0f) angle240 -= 360.0f; |
bwang | 38:232c51b6853f | 64 | if (angle120 < 0.0f) angle240 += 360.0f; |
bwang | 38:232c51b6853f | 65 | c->inverter->SetDtcA(0.5f + 0.5f * FastSin(angle)); |
bwang | 38:232c51b6853f | 66 | c->inverter->SetDtcB(0.5f + 0.5f * FastSin(angle120)); |
bwang | 38:232c51b6853f | 67 | c->inverter->SetDtcC(0.5f + 0.5f * FastSin(angle240)); |
bwang | 38:232c51b6853f | 68 | } |
bwang | 38:232c51b6853f | 69 | |
bwang | 11:dccbaa9274c5 | 70 | void slow(Context *c) { |
bwang | 11:dccbaa9274c5 | 71 | c->user->UpdateThrottle(); |
nki | 36:11766b5da6ed | 72 | //c->user->throttle = c->filter_th->Update(c->user->throttle); |
bwang | 11:dccbaa9274c5 | 73 | } |
bwang | 11:dccbaa9274c5 | 74 | |
bwang | 11:dccbaa9274c5 | 75 | void debug(Context *c) { |
nki | 37:09373294ff22 | 76 | //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); |
nki | 36:11766b5da6ed | 77 | //c->serial->printf("%f\n\r", dbg_angle); |
nki | 36:11766b5da6ed | 78 | //c->serial->printf("%f\n\r", c->user->throttle); |
bwang | 24:f1ff9c7256b5 | 79 | } |
bwang | 24:f1ff9c7256b5 | 80 | |
bwang | 24:f1ff9c7256b5 | 81 | void log(Context *c) { |
nki | 37:09373294ff22 | 82 | //c->debugger->Write(0, dbg_dtc_b); |
bwang | 38:232c51b6853f | 83 | //c->debugger->Write(1, dbg_q_filtered); |
nki | 37:09373294ff22 | 84 | //c->debugger->Write(1, dbg_dtc_b); |
nki | 37:09373294ff22 | 85 | //c->debugger->Write(2, dbg_dtc_c); |
bwang | 11:dccbaa9274c5 | 86 | } |