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Dependencies:   mbed

Fork of priustroller_current by N K

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?

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() {
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 }