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Dependencies:   mbed

Fork of priustroller_current by N K

main.cpp@48:28edb4c5c04b, 2015-04-17 (annotated)

Committer:
nki
Date:
Fri Apr 17 05:19:21 2015 +0000
Revision:
48:28edb4c5c04b
Parent:
47:f5b1ff02c656
Child:
49:0603121a0538
temp commit before revert

Who changed what in which revision?

UserRevisionLine numberNew 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() {
bwang 42:e4f35ff78d91 11 Context *context = new Context(false);
nki 36:11766b5da6ed 12 context->ConfigureOutputs(D13, D3, D6, D2);
nki 33:e7b132029bae 13 context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f);
nki 37:09373294ff22 14 context->ConfigureIdPidController(0.00001f, 0.0f, 0.0f, 1.0f, -1.0f);
nki 37:09373294ff22 15 context->ConfigureIqPidController(0.00001f, 0.0f, 0.0f, 1.0f, -1.0f);
nki 36:11766b5da6ed 16 context->ConfigureThrottle(A0, 0.9f, 2.5f, 0.8f); //last term is LPF strength
nki 36:11766b5da6ed 17 context->ConfigurePositionSensor(A3, A4, 0.366f, 0.655f, 0.355f, 0.626f, 205.0f);
nki 36:11766b5da6ed 18 context->ConfigureReference(80.0f); // max phase current
bwang 42:e4f35ff78d91 19 //context->ConfigureDebugger(2, 4000);
bwang 46:bd39f7e6e37f 20 context->Start();
bwang 42:e4f35ff78d91 21 for (;;) {
bwang 42:e4f35ff78d91 22 fast_test2(context);
nki 48:28edb4c5c04b 23 wait_us(500);
nki 48:28edb4c5c04b 24 slow(context);
bwang 42:e4f35ff78d91 25 }
bwang 42:e4f35ff78d91 26 /*
bwang 42:e4f35ff78d91 27 context->AttachCallBack(&fast, 5000);
bwang 38:232c51b6853f 28 context->AttachCallBack(&fast_test, 5000);
bwang 38:232c51b6853f 29 context->AttachCallBack(&slow, 20);
bwang 11:dccbaa9274c5 30 context->AttachCallBack(&debug, 10);
bwang 24:f1ff9c7256b5 31 context->AttachCallBack(&log, 500);
bwang 11:dccbaa9274c5 32 context->Start();
bwang 42:e4f35ff78d91 33 */
bwang 0:54cf32d35f4d 34 }