N K / Mbed 2 deprecated priustroller_2

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Dependencies:   mbed

Fork of priustroller by Bayley Wang

callbacks.cpp@25:0003b824dd7d, 2015-03-10 (annotated)

Committer:
nki
Date:
Tue Mar 10 17:47:08 2015 +0000
Revision:
25:0003b824dd7d
Parent:
24:f1ff9c7256b5
Child:
27:846c08fb3697
fixed swapped _kp and _kd in context.cpp; doesn't run great with the loop closed.;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 11:dccbaa9274c5 1 #include "includes.h"
bwang 11:dccbaa9274c5 2 #include "transforms.h"
bwang 11:dccbaa9274c5 3 #include "filters.h"
bwang 11:dccbaa9274c5 4 #include "context.h"
bwang 11:dccbaa9274c5 5 #include "core.h"
bwang 11:dccbaa9274c5 6 #include "meta.h"
bwang 11:dccbaa9274c5 7 #include "sensors.h"
bwang 24:f1ff9c7256b5 8 #include "debug.h"
bwang 11:dccbaa9274c5 9
bwang 11:dccbaa9274c5 10 void fast(Context *c) {
bwang 11:dccbaa9274c5 11 float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta;
nki 21:da41c08e51bc 12 float I_b, I_c, angle, d_filtered, q_filtered, vd, vq;
bwang 24:f1ff9c7256b5 13 dbg_ib = I_b = c->motor->GetCurrentB();
bwang 24:f1ff9c7256b5 14 dbg_ic = I_c = c->motor->GetCurrentC();
bwang 24:f1ff9c7256b5 15 dbg_angle = angle = c->motor->GetPosition();
bwang 24:f1ff9c7256b5 16
bwang 24:f1ff9c7256b5 17 Clarke(-(I_b + I_c), I_b, &alpha, &beta);
bwang 11:dccbaa9274c5 18 Parke(alpha, beta, angle, &d, &q);
bwang 11:dccbaa9274c5 19
bwang 24:f1ff9c7256b5 20 dbg_d_filtered = d_filtered = c->filter_d->Update(d);
bwang 24:f1ff9c7256b5 21 dbg_q_filtered = q_filtered = c->filter_q->Update(q);
bwang 11:dccbaa9274c5 22
bwang 11:dccbaa9274c5 23 c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q);
bwang 24:f1ff9c7256b5 24
bwang 24:f1ff9c7256b5 25 dbg_ref_d = ref_d;
bwang 24:f1ff9c7256b5 26 dbg_ref_q = ref_q;
bwang 24:f1ff9c7256b5 27 dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered);
bwang 24:f1ff9c7256b5 28 dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered);
bwang 11:dccbaa9274c5 29
nki 25:0003b824dd7d 30 /*
bwang 11:dccbaa9274c5 31 vd = 0.0f;
bwang 11:dccbaa9274c5 32 vq = c->user->throttle;
nki 25:0003b824dd7d 33 */
nki 25:0003b824dd7d 34 /*
nki 25:0003b824dd7d 35 vd = 0.05f;
nki 25:0003b824dd7d 36 vq = 0.95f;
nki 25:0003b824dd7d 37 */
bwang 11:dccbaa9274c5 38 InverseParke(vd, vq, angle, &valpha, &vbeta);
bwang 11:dccbaa9274c5 39
bwang 11:dccbaa9274c5 40 c->modulator->Update(valpha, vbeta);
bwang 11:dccbaa9274c5 41 }
bwang 11:dccbaa9274c5 42
bwang 11:dccbaa9274c5 43 void slow(Context *c) {
bwang 11:dccbaa9274c5 44 c->user->UpdateThrottle();
bwang 11:dccbaa9274c5 45 }
bwang 11:dccbaa9274c5 46
bwang 11:dccbaa9274c5 47 void debug(Context *c) {
nki 25:0003b824dd7d 48 c->serial->printf("%f %f %f %f %f %f\n\r", dbg_d_filtered, dbg_q_filtered, dbg_ref_d, dbg_ref_q, dbg_loop_d, dbg_loop_q);
bwang 24:f1ff9c7256b5 49 }
bwang 24:f1ff9c7256b5 50
bwang 24:f1ff9c7256b5 51 void log(Context *c) {
bwang 24:f1ff9c7256b5 52 //c->debugger->Write(0, dbg_ib);
bwang 24:f1ff9c7256b5 53 //c->debugger->Write(1, dbg_ic);
bwang 11:dccbaa9274c5 54 }