stock mbed AnalogReads current loop closed and working
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Diff: context.h
- Revision:
- 36:11766b5da6ed
- Parent:
- 33:e7b132029bae
diff -r 83cf9564bd0c -r 11766b5da6ed context.h --- a/context.h Mon Mar 16 15:40:07 2015 +0000 +++ b/context.h Thu Apr 16 04:08:47 2015 +0000 @@ -18,7 +18,7 @@ void ConfigureCurrentSensors(PinName ib_pin, PinName ic_pin, float scale, float filter_strength); void ConfigureIdPidController(float ki, float kp, float kd, float pidmin, float pidmax); void ConfigureIqPidController(float ki, float kp, float kd, float pidmin, float pidmax); - void ConfigureThrottle(PinName throttle_pin, float min, float max); + void ConfigureThrottle(PinName throttle_pin, float min, float max, float th_filter_strength); void ConfigurePositionSensor(PinName pos_a_pin, PinName pos_b_pin, float cal1_a, float cal2_a, float cal1_b, float cal2_b, float offset); void ConfigureReference(float max_current); void ConfigureDebugger(int debugger_channels, int debugger_size); @@ -37,7 +37,7 @@ Modulator *modulator; Serial *serial; ReferenceSynthesizer *reference; - LtiFilter *filter_d, *filter_q; + LtiFilter *filter_d, *filter_q, *filter_th; BufferedDebugger *debugger; private: void InitData(); @@ -46,7 +46,7 @@ private: PinName _oa, _ob, _oc, _ib_pin, _ic_pin, _throttle_pin, _pos_a_pin, _pos_b_pin, _en; float _dki, _dkp, _dkd, _qki, _qkp, _qkd, _min, _max, _cal1_a, _cal2_a, - _cal1_b, _cal2_b, _scale, _offset, _max_current, _filter_strength; + _cal1_b, _cal2_b, _scale, _offset, _max_current, _filter_strength, _th_filter_strength; int _debugger_channels, _debugger_size; float _dpidmax, _dpidmin, _qpidmax, _qpidmin; void (*_callbacks[16])(Context *);