Revision 10:b4abecccec7a, committed 2015-03-08

Comitter:

nki

Date:

Sun Mar 08 00:45:28 2015 +0000

Parent:

9:d3b70c15baa9

Commit message:

uguu;

Changed in this revision

diff -r d3b70c15baa9 -r b4abecccec7a includes.h
--- a/includes.h	Fri Mar 06 19:12:53 2015 +0000
+++ b/includes.h	Sun Mar 08 00:45:28 2015 +0000
@@ -17,5 +17,11 @@
 extern float test_DtcB;
 extern float test_DtcC;
 
+extern float *fbuffer;
+extern int acquire;
+extern int bufidx;
+extern int bufsize;
+extern int skip;
+
 using namespace FastMath;
 #endif
\ No newline at end of file

diff -r d3b70c15baa9 -r b4abecccec7a loopdriver.cpp
--- a/loopdriver.cpp	Fri Mar 06 19:12:53 2015 +0000
+++ b/loopdriver.cpp	Sun Mar 08 00:45:28 2015 +0000
@@ -89,28 +89,28 @@
     d_mean = 0.01f*d + 0.99f*d_mean;
     q_mean = 0.01f*q + 0.99f*q_mean;
 
-    _reference->GetReference(_motor->angle, &ref_d, &ref_q);  //this just returns d = 0 and q = 1 right now.  doesn't care about angle
+    _reference->GetReference(_motor->angle, _user->throttle, &ref_d, &ref_q);  //this just returns d = 0 and q = 1 right now.  doesn't care about angle
     float vd = _pid_d->Update(ref_d, d_mean);
     float vq = _pid_q->Update(ref_q, q_mean);
     
-    test_alpha = vd;
-    test_beta = vq;
+    vd = 0.0f;
+    vq = _user->throttle;
     
-    /*
-    //overriding PI controller here because we're not actually doing current control yet
-    //These values are approximately what I saw coming out of the park transform.  just feeding them back in here to test the loop
-    vd = 0.0f;
-    vq = -1.0f;  
-    */
     
     InverseParke(vd, vq, _motor->angle, &valpha, &vbeta);
-
+    
+    if(acquire==1){
+        if(bufidx < bufsize){
+            fbuffer[bufidx] = _motor->angle;
+        }
+        else{
+            acquire = 0;
+        }
+    }   
     _modulator->Update(valpha, vbeta); 
     
     /*
-    _inverter->SetDtcA((LutSin(_motor->angle)/2.0f)+0.5f);
-    _inverter->SetDtcB((LutSin(_motor->angle - 120.0f)/2.0f)+0.5f);
-    _inverter->SetDtcC((LutSin(_motor->angle + 120.0f)/2.0f)+0.5f);
-    */
-    
+    test_alpha = valpha;
+    test_beta = vbeta;
+    */  
 }

diff -r d3b70c15baa9 -r b4abecccec7a main.cpp
--- a/main.cpp	Fri Mar 06 19:12:53 2015 +0000
+++ b/main.cpp	Sun Mar 08 00:45:28 2015 +0000
@@ -3,6 +3,28 @@
 #include "sensors.h"
 #include "meta.h"
 
+void txCallback() {
+}
+ 
+// This function is called when a character goes into the RX buffer.
+void rxCallback() {
+    if(pc->getc()=='r'){
+        acquire = 1;
+        pc->putc('3');
+    }
+    if((pc->getc()=='d')&(acquire==0)&(_user->throttle==0)){
+        for (int i = 0; i < 10000; i++) {
+            pc->printf("%f,", fbuffer[i]);
+        }
+    }
+    pc->putc(pc->getc());
+}
+ 
+
+    
+
+
+
 Serial *pc = new Serial(SERIAL_TX, SERIAL_RX);
 float test_alpha = 0;
 float test_beta = 0;
@@ -14,9 +36,19 @@
 float test_DtcB;
 float test_DtcC;
 
+float *fbuffer;
+int acquire = 0;
+int bufidx = 0;
+int bufsize = 10000;
+int skip = 0;
+
 int main() {
     pc->baud(115200);
+    pc->attach(&txCallback, Serial::TxIrq);
+    pc->attach(&rxCallback, Serial::RxIrq);
     pc->printf("%s\n\r", "Init Serial Comm");
+
+    fbuffer = (float*)malloc(bufsize*sizeof(float));
     
     PositionSensor *sense_p = new AnalogHallPositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f);
     CurrentSensor *sense_ic = new AnalogCurrentSensor(A1, 0.01);
@@ -24,10 +56,10 @@
     VoltageSensor *sense_bus = new AnalogVoltageSensor(A5, 0.01);
     TempSensor *sense_t_motor = new TempSensor();
     TempSensor *sense_t_inverter = new TempSensor();
-    Throttle *throttle = new Throttle(A0, 0.5f, 3.0f);
+    Throttle *throttle = new Throttle(A0, 0.8f, 3.0f);
     
-    PidController *pid_d = new PidController(0.0001f, 0.0f, 0.0f, 5.0f, -5.0f);
-    PidController *pid_q = new PidController (0.0001f, 0.0f, 0.0f, 5.0f, -5.0f);
+    PidController *pid_d = new PidController(0.001f, 0.1f, 0.0f, 1.0f, -1.0f);
+    PidController *pid_q = new PidController (0.001f, 0.1f, 0.0f, 5.0f, -5.0f);
     
     Motor *motor = new Motor(sense_ic, sense_ib, sense_p, sense_t_motor);
     Inverter *inverter = new Inverter(D6, D13, D3, D8, sense_bus, sense_t_inverter);

diff -r d3b70c15baa9 -r b4abecccec7a meta.h
--- a/meta.h	Fri Mar 06 19:12:53 2015 +0000
+++ b/meta.h	Sun Mar 08 00:45:28 2015 +0000
@@ -35,7 +35,7 @@
 class ReferenceSynthesizer {
 public:
     ReferenceSynthesizer(float max_phase_current) {_max_phase_current = max_phase_current;}
-    virtual void GetReference(float angle, float *ref_d, float *ref_q) {*ref_d = 0; *ref_q = 0;}
+    virtual void GetReference(float angle, float throttle, float *ref_d, float *ref_q) {*ref_d = 0; *ref_q = 0;}
 protected:
     static float LutSin(float theta);
     static float LutCos(float theta);
@@ -46,7 +46,7 @@
 class SynchronousReferenceSynthesizer : public ReferenceSynthesizer {
 public:
     SynchronousReferenceSynthesizer(float max_phase_current):ReferenceSynthesizer(max_phase_current) {}
-    virtual void GetReference(float angle, float *ref_d, float *ref_q);
+    virtual void GetReference(float angle, float throttle, float *ref_d, float *ref_q);
 };
 
 class StatusUpdater {

diff -r d3b70c15baa9 -r b4abecccec7a modulators.cpp
--- a/modulators.cpp	Fri Mar 06 19:12:53 2015 +0000
+++ b/modulators.cpp	Sun Mar 08 00:45:28 2015 +0000
@@ -9,9 +9,14 @@
     _inverter->vb = vb;
     
     //inverse \alpha \beta (Clarke) transform
-    _inverter->SetDtcA(va/2.0f + 0.5f);
-    _inverter->SetDtcB(((-va + sqrt(3.0f)*vb)/2.0f)/2.0f + 0.5f);
-    _inverter->SetDtcC(((-va - sqrt(3.0f)*vb)/2.0f)/2.0f + 0.5f);
+    _inverter->SetDtcA(va);
+    _inverter->SetDtcB(((-va + sqrt(3.0f)*vb)/2.0f));
+    _inverter->SetDtcC(((-va - sqrt(3.0f)*vb)/2.0f));
+    
+    /*        
+    test_alpha = va;
+    test_beta = ((-va + sqrt(3.0f)*vb)/2.0f); 
+    */
     
     /*
     _inverter->SetDtcA((LutSin(va)/2.0f)+0.5f);

diff -r d3b70c15baa9 -r b4abecccec7a pidcontroller.cpp
--- a/pidcontroller.cpp	Fri Mar 06 19:12:53 2015 +0000
+++ b/pidcontroller.cpp	Sun Mar 08 00:45:28 2015 +0000
@@ -11,9 +11,10 @@
     _out_min = out_min;
 }
 
-float PidController::Update(float ref, float in) {
-    float error = in - ref;
-    _integral += error;
+float PidController::Update(float ref, float in) {  //starts positive, integrator is adding up the error to get there.  cranking throttle makes it go negative.  that makes sense.
+    float error = ref - in;
+    //_integral += error;
+    _integral = 0.0f;
     if (_integral*_ki > _out_max) _integral = _out_max/_ki;
     if (_integral*_ki < _out_min) _integral = _out_min/_ki;
     float deriv = _last_in - in;

diff -r d3b70c15baa9 -r b4abecccec7a referencesynthesizers.cpp
--- a/referencesynthesizers.cpp	Fri Mar 06 19:12:53 2015 +0000
+++ b/referencesynthesizers.cpp	Sun Mar 08 00:45:28 2015 +0000
@@ -1,10 +1,12 @@
 #include "includes.h"
 #include "meta.h"
+#include "sensors.h"
 #include "lut.h"
+#include "core.h"
 
-void SynchronousReferenceSynthesizer::GetReference(float angle, float *ref_d, float *ref_q) {
+void SynchronousReferenceSynthesizer::GetReference(float angle, float throttle, float *ref_d, float *ref_q) {
     *ref_d = 0.0f;
-    *ref_q = _max_phase_current;
+    *ref_q = _max_phase_current*throttle;
 }
 
 float ReferenceSynthesizer::LutSin(float theta) {

diff -r d3b70c15baa9 -r b4abecccec7a statusupdater.cpp
--- a/statusupdater.cpp	Fri Mar 06 19:12:53 2015 +0000
+++ b/statusupdater.cpp	Sun Mar 08 00:45:28 2015 +0000
@@ -69,7 +69,16 @@
             _motor->UpdateTemp();
             _inverter->UpdateTemp();
             last_slow = _time;
-            pc->printf("%f %f\n\r", test_alpha, test_beta);
+            
+            
+            //pc->printf("%f %f\n\r", test_alpha, test_beta);
+            
+            /*
+            for (int i = 0; i < 10000; i++) {
+                pc.printf("%f,", fbuffer[i]);
+            }
+            */
+           
                                   
             //pc->printf("%f %f\n\r", _inverter->va, _inverter->vb);
         }

diff -r d3b70c15baa9 -r b4abecccec7a throttle.cpp
--- a/throttle.cpp	Fri Mar 06 19:12:53 2015 +0000
+++ b/throttle.cpp	Sun Mar 08 00:45:28 2015 +0000
@@ -9,5 +9,8 @@
 
 float Throttle::GetThrottle() {
     float v = _in->GetVoltage();
-    return (v - _min) / (_max - _min);
+    v = (v - _min) / (_max - _min);
+    if (v > 1.0f) return 1.0f;
+    if (v < 0.0f) return 0.0f;
+    return v;
 }
\ No newline at end of file

diff -r d3b70c15baa9 -r b4abecccec7a todo.txt
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/todo.txt	Sun Mar 08 00:45:28 2015 +0000
@@ -0,0 +1,3 @@
+serial dump waveforms - particularly d and q
+
+read in one of the old hall sensor inputs as a button or something.  press once to save data.  again to dump.
\ No newline at end of file