N K / Mbed 2 deprecated priustroller_2

stock mbed AnalogReads current loop closed and working

Dependencies:   mbed

Fork of priustroller by Bayley Wang

main.cpp

Committer:
nki
Date:
2015-04-16
Revision:
36:11766b5da6ed
Parent:
35:83cf9564bd0c

File content as of revision 36:11766b5da6ed:

#include "includes.h"
#include "transforms.h"
#include "filters.h"
#include "context.h"
#include "core.h"
#include "meta.h"
#include "sensors.h"
#include "callbacks.h"

int main() { 
    Context *context = new Context();
    context->ConfigureOutputs(D13, D3, D6, D2);
    context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f);
    context->ConfigureIdPidController(0.0008f, 0.0f, 0.0f, 1.0f, -1.0f);
    context->ConfigureIqPidController(0.0008f, 0.0f, 0.0f, 1.0f, -1.0f);
    context->ConfigureThrottle(A0, 0.9f, 2.5f, 0.8f);  //last term is LPF strength
    context->ConfigurePositionSensor(A3, A4, 0.366f, 0.655f, 0.355f, 0.626f, 205.0f);
    context->ConfigureReference(80.0f);  // max phase current
    context->ConfigureDebugger(1, 2000);
    context->AttachCallBack(&fast, 5000);
    context->AttachCallBack(&slow, 10);
    context->AttachCallBack(&debug, 10);
    context->AttachCallBack(&log, 500);
    context->Start();
}