N K
/
GaNtroller
a fork of priustroller
Fork of priustroller_current by
callbacks.cpp@54:e8d9bc885723, 2015-05-19 (annotated)
- Committer:
- bwang
- Date:
- Tue May 19 08:50:42 2015 +0000
- Revision:
- 54:e8d9bc885723
- Parent:
- 53:ef62d7a958f2
- Child:
- 55:f102d271e808
Velocity sensing added
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 | 54:e8d9bc885723 | 16 | float speed_raw = c->motor->GetSpeed(); |
bwang | 54:e8d9bc885723 | 17 | dbg_speed = c->filter_sp->Update(speed_raw); |
bwang | 24:f1ff9c7256b5 | 18 | |
bwang | 24:f1ff9c7256b5 | 19 | Clarke(-(I_b + I_c), I_b, &alpha, &beta); |
bwang | 11:dccbaa9274c5 | 20 | Parke(alpha, beta, angle, &d, &q); |
bwang | 53:ef62d7a958f2 | 21 | dbg_q_raw = q; |
bwang | 54:e8d9bc885723 | 22 | dbg_d_raw = d; |
bwang | 11:dccbaa9274c5 | 23 | |
nki | 34:bfe180de813a | 24 | dbg_d_filtered = d_filtered = c->filter_q->Update(q); //swapped |
nki | 34:bfe180de813a | 25 | dbg_q_filtered = q_filtered = -c->filter_d->Update(d); //these and added a negative on this line. |
nki | 34:bfe180de813a | 26 | |
nki | 34:bfe180de813a | 27 | //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 | 28 | //and that a positive vq command produced a reading of positive d axis torque. |
nki | 34:bfe180de813a | 29 | //This may be the final step in aligning the handedness of the reference and the output. |
nki | 36:11766b5da6ed | 30 | |
bwang | 53:ef62d7a958f2 | 31 | c->user->UpdateThrottle(); |
bwang | 53:ef62d7a958f2 | 32 | c->user->throttle = c->filter_th->Update(c->user->throttle); |
nki | 33:e7b132029bae | 33 | c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q); |
bwang | 24:f1ff9c7256b5 | 34 | |
bwang | 24:f1ff9c7256b5 | 35 | dbg_ref_d = ref_d; |
bwang | 24:f1ff9c7256b5 | 36 | dbg_ref_q = ref_q; |
bwang | 24:f1ff9c7256b5 | 37 | dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered); |
bwang | 24:f1ff9c7256b5 | 38 | dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered); |
bwang | 53:ef62d7a958f2 | 39 | |
bwang | 53:ef62d7a958f2 | 40 | dbg_throttle = c->user->throttle; |
nki | 49:0603121a0538 | 41 | |
nki | 50:16b43e8fe04f | 42 | if(c->user->throttle <= 0.05f){ //disable inverter - prevent whining, allow for safe precharge. |
nki | 50:16b43e8fe04f | 43 | c->inverter->Disable(); |
nki | 50:16b43e8fe04f | 44 | c->pid_d->ZeroIntegrator(); |
nki | 50:16b43e8fe04f | 45 | c->pid_q->ZeroIntegrator(); |
nki | 49:0603121a0538 | 46 | } |
nki | 50:16b43e8fe04f | 47 | else { |
nki | 50:16b43e8fe04f | 48 | c->inverter->Enable(); |
nki | 50:16b43e8fe04f | 49 | } |
nki | 49:0603121a0538 | 50 | |
nki | 36:11766b5da6ed | 51 | |
nki | 36:11766b5da6ed | 52 | dbg_loop_d = vd; |
nki | 36:11766b5da6ed | 53 | dbg_loop_q = vq; |
nki | 36:11766b5da6ed | 54 | |
nki | 34:bfe180de813a | 55 | InverseParke(vd, vq, angle, &valpha, &vbeta); |
nki | 27:846c08fb3697 | 56 | |
nki | 34:bfe180de813a | 57 | dbg_valpha = valpha; |
nki | 34:bfe180de813a | 58 | dbg_vbeta = vbeta; |
bwang | 11:dccbaa9274c5 | 59 | |
bwang | 11:dccbaa9274c5 | 60 | c->modulator->Update(valpha, vbeta); |
bwang | 11:dccbaa9274c5 | 61 | } |
bwang | 11:dccbaa9274c5 | 62 | |
bwang | 11:dccbaa9274c5 | 63 | void slow(Context *c) { |
bwang | 53:ef62d7a958f2 | 64 | //c->user->UpdateThrottle(); |
nki | 36:11766b5da6ed | 65 | //c->user->throttle = c->filter_th->Update(c->user->throttle); |
bwang | 11:dccbaa9274c5 | 66 | } |
bwang | 11:dccbaa9274c5 | 67 | |
bwang | 11:dccbaa9274c5 | 68 | void debug(Context *c) { |
nki | 37:09373294ff22 | 69 | //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 | 70 | //c->serial->printf("%f\n\r", dbg_angle); |
nki | 49:0603121a0538 | 71 | //c->serial->printf("%f\n\r", c->user->throttle); |
nki | 50:16b43e8fe04f | 72 | //c->serial->printf("%f %f\n\r", dbg_ib, dbg_ic); |
bwang | 24:f1ff9c7256b5 | 73 | } |
bwang | 24:f1ff9c7256b5 | 74 | |
bwang | 24:f1ff9c7256b5 | 75 | void log(Context *c) { |
bwang | 54:e8d9bc885723 | 76 | //c->debugger->Write(0, dbg_speed); |
bwang | 54:e8d9bc885723 | 77 | //c->debugger->Write(1, dbg_q_filtered); |
bwang | 54:e8d9bc885723 | 78 | //c->debugger->Write(2, dbg_ref_q); |
bwang | 53:ef62d7a958f2 | 79 | //c->debugger->Write(3, dbg_loop_q); |
bwang | 11:dccbaa9274c5 | 80 | } |