Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Fork of priustroller_current by
main.cpp@52:4d4b2b3ef8dc, 2015-05-02 (annotated)
- Committer:
- nki
- Date:
- Sat May 02 00:09:09 2015 +0000
- Revision:
- 52:4d4b2b3ef8dc
- Parent:
- 51:14112834b067
derpy hobbyking fork;
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 |
nki | 49:0603121a0538 | 14 | context->ConfigureIdPidController(0.0001f, 0.0f, 0.0f, 1.0f, -1.0f); |
nki | 49:0603121a0538 | 15 | context->ConfigureIqPidController(0.0001f, 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 | 51:14112834b067 | 18 | context->ConfigureReference(200.0f); // max phase current |
nki | 49:0603121a0538 | 19 | context->ConfigureDebugger(1, 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(); |
nki | 52:4d4b2b3ef8dc | 25 | |
bwang | 0:54cf32d35f4d | 26 | } |