N K
/
GaNtroller
a fork of priustroller
Fork of priustroller_current by
Diff: main.cpp
- Revision:
- 49:0603121a0538
- Parent:
- 48:28edb4c5c04b
- Child:
- 50:16b43e8fe04f
diff -r 28edb4c5c04b -r 0603121a0538 main.cpp --- a/main.cpp Fri Apr 17 05:19:21 2015 +0000 +++ b/main.cpp Tue Apr 21 03:52:08 2015 +0000 @@ -8,27 +8,18 @@ #include "callbacks.h" int main() { - Context *context = new Context(false); + Context *context = new Context(); context->ConfigureOutputs(D13, D3, D6, D2); - context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f); - context->ConfigureIdPidController(0.00001f, 0.0f, 0.0f, 1.0f, -1.0f); - context->ConfigureIqPidController(0.00001f, 0.0f, 0.0f, 1.0f, -1.0f); + context->ConfigureCurrentSensors(A1, A2, 0.0016f, 0.7f); //scale in V/A, filter strength + context->ConfigureIdPidController(0.0001f, 0.0f, 0.0f, 1.0f, -1.0f); + context->ConfigureIqPidController(0.0001f, 0.0f, 0.0f, 1.0f, -1.0f); context->ConfigureThrottle(A0, 0.9f, 2.5f, 0.8f); //last term is LPF strength context->ConfigurePositionSensor(A3, A4, 0.366f, 0.655f, 0.355f, 0.626f, 205.0f); - context->ConfigureReference(80.0f); // max phase current - //context->ConfigureDebugger(2, 4000); - context->Start(); - for (;;) { - fast_test2(context); - wait_us(500); - slow(context); - } - /* + context->ConfigureReference(20.0f); // max phase current + context->ConfigureDebugger(1, 2000); context->AttachCallBack(&fast, 5000); - context->AttachCallBack(&fast_test, 5000); - context->AttachCallBack(&slow, 20); + context->AttachCallBack(&slow, 10); context->AttachCallBack(&debug, 10); context->AttachCallBack(&log, 500); context->Start(); - */ }