N K
/
GaNtroller
a fork of priustroller
Fork of priustroller_current by
Diff: callbacks.cpp
- Revision:
- 33:e7b132029bae
- Parent:
- 32:4e1a223fad52
- Child:
- 34:bfe180de813a
diff -r 4e1a223fad52 -r e7b132029bae callbacks.cpp --- a/callbacks.cpp Mon Mar 16 02:43:19 2015 +0000 +++ b/callbacks.cpp Mon Mar 16 03:09:48 2015 +0000 @@ -12,38 +12,15 @@ float I_b, I_c, angle, d_filtered, q_filtered, vd, vq; dbg_ib = I_b = c->motor->GetCurrentB(); dbg_ic = I_c = c->motor->GetCurrentC(); - dbg_angle = angle = c->motor->GetPosition(); Clarke(-(I_b + I_c), I_b, &alpha, &beta); Parke(alpha, beta, angle, &d, &q); - dbg_ialpha = alpha; - dbg_ibeta = beta; - - d_filtered = c->filter_d->Update(d); - q_filtered = c->filter_q->Update(q); - - /* - - //these envelope d and q about 0. the envelope looks like this: - // X= -1 0 1 - // ____| | |____ - // \___/ - if(d_filtered < 1.0f & d_filtered > -1.0f) d_filtered = 0.0f; - if(d_filtered < 2.0f & d_filtered >= 1.0f) d_filtered = (d_filtered-1.0f)*d_filtered; - if(d_filtered > -2.0f & d_filtered <= -1.0f) d_filtered = (-d_filtered-1.0f)*d_filtered; - - if(q_filtered < 1.0f & q_filtered > -1.0f) q_filtered = 0.0f; - if(q_filtered < 2.0f & q_filtered >= 1.0f) q_filtered = (q_filtered-1.0f)*q_filtered; - if(q_filtered > -2.0f & q_filtered <= -1.0f) q_filtered = (-q_filtered-1.0f)*q_filtered; - */ - - dbg_d_filtered = d_filtered; - dbg_q_filtered = q_filtered; - + dbg_d_filtered = d_filtered = c->filter_d->Update(d); + dbg_q_filtered = q_filtered = c->filter_q->Update(q); - c->reference->GetReference(angle, -c->user->throttle, &ref_d, &ref_q); + c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q); dbg_ref_d = ref_d; dbg_ref_q = ref_q; @@ -55,10 +32,9 @@ vq = c->user->throttle; */ - vd = 0.0f; - vq = 1.0f; + vd = 0.05f; + vq = 0.95f; - InverseParke(vd, vq, angle, &valpha, &vbeta); c->modulator->Update(valpha, vbeta); @@ -69,15 +45,10 @@ } void debug(Context *c) { - //c->serial->printf("CR1:%x CR2:%x SMPR1:%x SMPR2:%x\n\r", ADC1->CR1, ADC1->CR2, ADC1->SMPR1, ADC1->SMPR2); - //c->serial->printf("%f %f %f %d %d\n\r",dbg_angle, dbg_ib,dbg_ic, channel_ib, channel_ic); //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); - // c->serial->printf("%f %f %f\n\r", dbg_angle, dbg_d_filtered, dbg_q_filtered); } void log(Context *c) { - //c->debugger->Write(0, dbg_angle); - //c->debugger->Write(1, 0); - //c->debugger->Write(0, dbg_ib); - //c->debugger->Write(1, dbg_ic); + c->debugger->Write(0, dbg_d_filtered); + c->debugger->Write(1, dbg_q_filtered); } \ No newline at end of file