stock mbed AnalogReads current loop closed and working
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main.cpp@36:11766b5da6ed, 2015-04-16 (annotated)
- Committer:
- nki
- Date:
- Thu Apr 16 04:08:47 2015 +0000
- Revision:
- 36:11766b5da6ed
- Parent:
- 35:83cf9564bd0c
running code, buggy at high current
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 0:54cf32d35f4d | 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 | 1:1f58bdcf2956 | 5 | #include "core.h" |
bwang | 1:1f58bdcf2956 | 6 | #include "meta.h" |
bwang | 11:dccbaa9274c5 | 7 | #include "sensors.h" |
bwang | 11:dccbaa9274c5 | 8 | #include "callbacks.h" |
nki | 27:846c08fb3697 | 9 | |
bwang | 11:dccbaa9274c5 | 10 | int main() { |
bwang | 11:dccbaa9274c5 | 11 | Context *context = new Context(); |
nki | 36:11766b5da6ed | 12 | context->ConfigureOutputs(D13, D3, D6, D2); |
nki | 33:e7b132029bae | 13 | context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f); |
nki | 36:11766b5da6ed | 14 | context->ConfigureIdPidController(0.0008f, 0.0f, 0.0f, 1.0f, -1.0f); |
nki | 36:11766b5da6ed | 15 | context->ConfigureIqPidController(0.0008f, 0.0f, 0.0f, 1.0f, -1.0f); |
nki | 36:11766b5da6ed | 16 | context->ConfigureThrottle(A0, 0.9f, 2.5f, 0.8f); //last term is LPF strength |
nki | 36:11766b5da6ed | 17 | context->ConfigurePositionSensor(A3, A4, 0.366f, 0.655f, 0.355f, 0.626f, 205.0f); |
nki | 36:11766b5da6ed | 18 | context->ConfigureReference(80.0f); // max phase current |
nki | 36:11766b5da6ed | 19 | context->ConfigureDebugger(1, 2000); |
bwang | 11:dccbaa9274c5 | 20 | context->AttachCallBack(&fast, 5000); |
bwang | 11:dccbaa9274c5 | 21 | context->AttachCallBack(&slow, 10); |
bwang | 11:dccbaa9274c5 | 22 | context->AttachCallBack(&debug, 10); |
bwang | 24:f1ff9c7256b5 | 23 | context->AttachCallBack(&log, 500); |
bwang | 11:dccbaa9274c5 | 24 | context->Start(); |
bwang | 0:54cf32d35f4d | 25 | } |