working-est copy with class-based code. still open loop
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referencesynthesizers.cpp@10:b4abecccec7a, 2015-03-08 (annotated)
- Committer:
- nki
- Date:
- Sun Mar 08 00:45:28 2015 +0000
- Revision:
- 10:b4abecccec7a
- Parent:
- 9:d3b70c15baa9
uguu;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 3:0a2396597e0d | 1 | #include "includes.h" |
bwang | 3:0a2396597e0d | 2 | #include "meta.h" |
nki | 10:b4abecccec7a | 3 | #include "sensors.h" |
bwang | 3:0a2396597e0d | 4 | #include "lut.h" |
nki | 10:b4abecccec7a | 5 | #include "core.h" |
bwang | 3:0a2396597e0d | 6 | |
nki | 10:b4abecccec7a | 7 | void SynchronousReferenceSynthesizer::GetReference(float angle, float throttle, float *ref_d, float *ref_q) { |
nki | 9:d3b70c15baa9 | 8 | *ref_d = 0.0f; |
nki | 10:b4abecccec7a | 9 | *ref_q = _max_phase_current*throttle; |
bwang | 3:0a2396597e0d | 10 | } |
bwang | 3:0a2396597e0d | 11 | |
bwang | 3:0a2396597e0d | 12 | float ReferenceSynthesizer::LutSin(float theta) { |
bwang | 3:0a2396597e0d | 13 | if (theta < 0.0f) theta += 360.0f; |
bwang | 3:0a2396597e0d | 14 | if (theta >= 360.0f) theta -= 360.0f; |
nki | 6:99ee0ce47fb2 | 15 | return sinetab[(int) theta] * 2.0f - 1.0f; |
bwang | 3:0a2396597e0d | 16 | } |
bwang | 3:0a2396597e0d | 17 | |
bwang | 3:0a2396597e0d | 18 | float ReferenceSynthesizer::LutCos(float theta) { |
bwang | 3:0a2396597e0d | 19 | return LutSin(90.0f - theta); |
bwang | 3:0a2396597e0d | 20 | } |