main.cpp

00001 #include "includes.h"
00002 #include "core.h"
00003 #include "sensors.h"
00004 #include "meta.h"
00005 
00006 Serial *pc = new Serial(SERIAL_TX, SERIAL_RX);
00007 float test_alpha = 0;
00008 float test_beta = 0;
00009 
00010 
00011 float test_DtcA;
00012 float test_DtcB;
00013 float test_DtcC;
00014 
00015 int main() {
00016     pc->baud(115200);
00017     pc->printf("%s\n\r", "Init Serial Comm");
00018     
00019     PositionSensor *sense_p = new AnalogHallPositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 200.0f);
00020     CurrentSensor *sense_ic = new AnalogCurrentSensor(A1, 0.01);
00021     CurrentSensor *sense_ib = new AnalogCurrentSensor(A2, 0.01);
00022     VoltageSensor *sense_bus = new AnalogVoltageSensor(A5, 0.01);
00023     TempSensor *sense_t_motor = new TempSensor();
00024     TempSensor *sense_t_inverter = new TempSensor();
00025     Throttle *throttle = new Throttle(A0, 0.5f, 3.0f);
00026     
00027     PidController *pid_d = new PidController(0.1f, 0.0f, 0.0f, 1.0f, 0.0f);
00028     PidController *pid_q = new PidController (0.1f, 0.0f, 0.0f, 1.0f, 0.0f);
00029     
00030     Motor *motor = new Motor(sense_ic, sense_ib, sense_p, sense_t_motor);
00031     Inverter *inverter = new Inverter(D6, D13, D3, D8, sense_bus, sense_t_inverter);
00032     User *user = new User(throttle);
00033     Modulator *modulator = new SinusoidalModulator(inverter);
00034     StatusUpdater *updater = new StatusUpdater(inverter, motor, user);
00035     LoopDriver *driver = new LoopDriver(inverter, motor, user, pid_d, pid_q, modulator, 1.0f, 5000);
00036     
00037     motor->Config(4, 20.0f);
00038     updater->Config(5000, 10);
00039          
00040     driver->Start();
00041     updater->Start();
00042 }