N K / Mbed 2 deprecated analoghalls_part_4

yup

Dependencies:   mbed

Fork of analoghalls by Bayley Wang

util.cpp@0:9753f3c2e5ca, 2015-02-16 (annotated)

Committer:
nki
Date:
Mon Feb 16 20:16:01 2015 +0000
Revision:
0:9753f3c2e5ca
Child:
1:70eed554399b
hello bayley;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nki 0:9753f3c2e5ca 1 #include "constants.h"
nki 0:9753f3c2e5ca 2 #include "shared.h"
nki 0:9753f3c2e5ca 3 #include "isr.h"
nki 0:9753f3c2e5ca 4 #include <stdlib.h>
nki 0:9753f3c2e5ca 5
nki 0:9753f3c2e5ca 6 void initTimers() {
nki 0:9753f3c2e5ca 7 dtc_upd_ticker.attach_us(&dtc_update, 20);
nki 0:9753f3c2e5ca 8 pha.period_us(200);
nki 0:9753f3c2e5ca 9 phb.period_us(200);
nki 0:9753f3c2e5ca 10 phc.period_us(200);
nki 0:9753f3c2e5ca 11 pha = 0;
nki 0:9753f3c2e5ca 12 phb = 1.0f;
nki 0:9753f3c2e5ca 13 phc = 0;
nki 0:9753f3c2e5ca 14
nki 0:9753f3c2e5ca 15 }
nki 0:9753f3c2e5ca 16
nki 0:9753f3c2e5ca 17 void initPins() {
nki 0:9753f3c2e5ca 18 halla.mode(PullUp);
nki 0:9753f3c2e5ca 19 hallb.mode(PullUp);
nki 0:9753f3c2e5ca 20 hallc.mode(PullUp);
nki 0:9753f3c2e5ca 21
nki 0:9753f3c2e5ca 22 en = 0;
nki 0:9753f3c2e5ca 23 }
nki 0:9753f3c2e5ca 24
nki 0:9753f3c2e5ca 25 void initData() {
nki 0:9753f3c2e5ca 26 motor = (Motor*) malloc(sizeof(Motor));
nki 0:9753f3c2e5ca 27 motor->hall = (halla.read() << 2) + (hallb.read() << 1) + hallc.read();
nki 0:9753f3c2e5ca 28 motor->last_hall = 0;
nki 0:9753f3c2e5ca 29 motor->reverses = 0;
nki 0:9753f3c2e5ca 30 motor->last_time = 3000.0f;
nki 0:9753f3c2e5ca 31 motor->major_pos = 60.0f * ATable[motor->hall];
nki 0:9753f3c2e5ca 32 motor->ticks = 0.0f;
nki 0:9753f3c2e5ca 33 motor->sensor_phase = SENSOR_PHASE;
nki 0:9753f3c2e5ca 34 motor->halt = 1;
nki 0:9753f3c2e5ca 35 motor->whangle =0;
nki 0:9753f3c2e5ca 36 motor->analoga = analoga;
nki 0:9753f3c2e5ca 37 motor->analogb = analogb;
nki 0:9753f3c2e5ca 38
nki 0:9753f3c2e5ca 39 float throttle_raw;
nki 0:9753f3c2e5ca 40 do {
nki 0:9753f3c2e5ca 41 throttle_raw = throttle;
nki 0:9753f3c2e5ca 42 throttle_raw = (throttle_raw - THROTTLE_DB) / (1.0f - THROTTLE_DB);
nki 0:9753f3c2e5ca 43 if (throttle_raw < 0.0f) throttle_raw = 0.0f;
nki 0:9753f3c2e5ca 44 } while (throttle_raw > 0.05f);
nki 0:9753f3c2e5ca 45
nki 0:9753f3c2e5ca 46 motor->throttle = (1.0f - THROTTLE_LPF) * throttle_raw + THROTTLE_LPF * motor->throttle;
nki 0:9753f3c2e5ca 47 if (motor->throttle < 0.05f) {
nki 0:9753f3c2e5ca 48 motor->halt = 1;
nki 0:9753f3c2e5ca 49 } else {
nki 0:9753f3c2e5ca 50 motor->halt = 0;
nki 0:9753f3c2e5ca 51 }
nki 0:9753f3c2e5ca 52 }