N K
/
GaNtroller
a fork of priustroller
Fork of priustroller_current by
main.cpp@53:ef62d7a958f2, 2015-05-02 (annotated)
- Committer:
- bwang
- Date:
- Sat May 02 00:21:00 2015 +0000
- Revision:
- 53:ef62d7a958f2
- Parent:
- 51:14112834b067
- Child:
- 54:e8d9bc885723
throttle filter
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() { |
nki | 49:0603121a0538 | 11 | Context *context = new Context(); |
nki | 36:11766b5da6ed | 12 | context->ConfigureOutputs(D13, D3, D6, D2); |
nki | 49:0603121a0538 | 13 | context->ConfigureCurrentSensors(A1, A2, 0.0016f, 0.7f); //scale in V/A, filter strength |
bwang | 53:ef62d7a958f2 | 14 | context->ConfigureIdPidController(0.00005f, 0.0f, 0.0f, 1.0f, -1.0f); |
bwang | 53:ef62d7a958f2 | 15 | context->ConfigureIqPidController(0.00005f, 0.0f, 0.0f, 1.0f, -1.0f); |
bwang | 53:ef62d7a958f2 | 16 | context->ConfigureThrottle(A0, 0.9f, 2.5f, 0.99f); //last term is LPF strength |
nki | 36:11766b5da6ed | 17 | context->ConfigurePositionSensor(A3, A4, 0.366f, 0.655f, 0.355f, 0.626f, 205.0f); |
bwang | 53:ef62d7a958f2 | 18 | context->ConfigureReference(300.0f); // max phase current |
bwang | 53:ef62d7a958f2 | 19 | context->ConfigureDebugger(4, 2000); |
bwang | 42:e4f35ff78d91 | 20 | context->AttachCallBack(&fast, 5000); |
nki | 49:0603121a0538 | 21 | context->AttachCallBack(&slow, 10); |
bwang | 11:dccbaa9274c5 | 22 | context->AttachCallBack(&debug, 10); |
bwang | 24:f1ff9c7256b5 | 23 | context->AttachCallBack(&log, 500); |
bwang | 11:dccbaa9274c5 | 24 | context->Start(); |
bwang | 0:54cf32d35f4d | 25 | } |