stock mbed AnalogReads current loop closed and working
Fork of priustroller by
callbacks.cpp
- Committer:
- bwang
- Date:
- 2015-03-09
- Revision:
- 16:c10d0aa3c0e1
- Parent:
- 13:79e247e54d78
- Child:
- 17:fd6771a6685a
File content as of revision 16:c10d0aa3c0e1:
#include "includes.h" #include "transforms.h" #include "filters.h" #include "context.h" #include "core.h" #include "meta.h" #include "sensors.h" #define dbg_d_filtered debug_registers[0] #define dbg_q_filtered debug_registers[1] #define dbg_angle debug_registers[3] void fast(Context *c) { float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta; float I_b, I_c, angle; I_b = c->motor->GetCurrentB(); I_c = c->motor->GetCurrentC(); angle = c->motor->GetPosition(); c->dbg_angle = angle; Clarke(-(I_b + I_c), I_b, &alpha, &beta); //--switched to standard clarke transform Parke(alpha, beta, angle, &d, &q); float d_filtered = c->filter_d->Update(d); float q_filtered = c->filter_q->Update(q); //--was Update(d), not sure if my typo or orignal c->dbg_d_filtered = d_filtered; c->dbg_q_filtered = q_filtered; c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q); float vd = c->pid_d->Update(ref_d, d_filtered); float vq = c->pid_q->Update(ref_q, q_filtered); vd = 0.0f; vq = c->user->throttle; InverseParke(vd, vq, angle, &valpha, &vbeta); c->modulator->Update(valpha, vbeta); } void slow(Context *c) { c->user->UpdateThrottle(); } void debug(Context *c) { serial->printf("%f \n\r", c->dbg_angle); }