Revision 36:11766b5da6ed, committed 2015-04-16

Comitter:

nki

Date:

Thu Apr 16 04:08:47 2015 +0000

Parent:

35:83cf9564bd0c

Commit message:

running code, buggy at high current

Changed in this revision

diff -r 83cf9564bd0c -r 11766b5da6ed callbacks.cpp
--- a/callbacks.cpp	Mon Mar 16 15:40:07 2015 +0000
+++ b/callbacks.cpp	Thu Apr 16 04:08:47 2015 +0000
@@ -23,7 +23,7 @@
     //The necessary changes were analytically determined by observing that a postive vd command corresponded to a reading of negative q axis torque
     //and that a positive vq command produced a reading of positive d axis torque.  
     //This may be the final step in aligning the handedness of the reference and the output.
-
+    
     c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q);
     
     dbg_ref_d = ref_d;
@@ -31,6 +31,19 @@
     dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered);
     dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered);
     
+    /*
+    
+    if(c->user->throttle <= 0.1f){
+        float ramp = (c->user->throttle*10.0f)*(c->user->throttle*10.0f);
+        vd = ramp*vd;
+        vq = ramp*vq;
+        }
+    
+    */
+        
+    dbg_loop_d = vd;
+    dbg_loop_q = vq;
+        
     InverseParke(vd, vq, angle, &valpha, &vbeta);
     
     dbg_valpha = valpha;
@@ -41,14 +54,16 @@
 
 void slow(Context *c) {
     c->user->UpdateThrottle();
+    //c->user->throttle = c->filter_th->Update(c->user->throttle);
 }
 
 void debug(Context *c) {
-    //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);
-    //c->serial->printf("%f %f %f %f\n\r", dbg_d_filtered, dbg_q_filtered);
+    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);
+    //c->serial->printf("%f\n\r", dbg_angle);
+    //c->serial->printf("%f\n\r", c->user->throttle);
 }
 
 void log(Context *c) {
-    //c->debugger->Write(0, dbg_d_filtered);
+    //c->debugger->Write(0, dbg_angle);
     //c->debugger->Write(1, dbg_q_filtered);
 }
\ No newline at end of file

diff -r 83cf9564bd0c -r 11766b5da6ed context.cpp
--- a/context.cpp	Mon Mar 16 15:40:07 2015 +0000
+++ b/context.cpp	Thu Apr 16 04:08:47 2015 +0000
@@ -45,10 +45,11 @@
     _qpidmin = pidmin;
 }
 
-void Context::ConfigureThrottle(PinName throttle_pin, float min, float max) {
+void Context::ConfigureThrottle(PinName throttle_pin, float min, float max, float th_filter_strength) {
     _throttle_pin = throttle_pin;
     _min = min;
     _max = max;
+    _th_filter_strength = th_filter_strength;
 }
 
 void Context::ConfigurePositionSensor(PinName pos_a_pin, PinName pos_b_pin, float cal1_a, float cal2_a, float cal1_b, float cal2_b, float offset) {
@@ -108,6 +109,8 @@
     reference = new SynchronousReferenceSynthesizer(_max_current);
     filter_d = new MeanFilter(_filter_strength);
     filter_q = new MeanFilter(_filter_strength);
+    filter_th = new MeanFilter(_th_filter_strength);
+    
     
     serial = new Serial(USBTX, USBRX);
     serial->baud(115200);

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 *);

diff -r 83cf9564bd0c -r 11766b5da6ed core/core.h
--- a/core/core.h	Mon Mar 16 15:40:07 2015 +0000
+++ b/core/core.h	Thu Apr 16 04:08:47 2015 +0000
@@ -47,7 +47,7 @@
 class User {
 public:
     User(Throttle *throttle) {_throttle = throttle;}
-    void UpdateThrottle() {throttle = _throttle->GetThrottle();}
+    void UpdateThrottle() {throttle = _throttle->GetThrottle();} 
 public:
     float throttle;
 private:

diff -r 83cf9564bd0c -r 11766b5da6ed main.cpp
--- a/main.cpp	Mon Mar 16 15:40:07 2015 +0000
+++ b/main.cpp	Thu Apr 16 04:08:47 2015 +0000
@@ -9,14 +9,14 @@
 
 int main() { 
     Context *context = new Context();
-    context->ConfigureOutputs(D6, D13, D3, D8);
+    context->ConfigureOutputs(D13, D3, D6, D2);
     context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f);
-    context->ConfigureIdPidController(0.001f, 0.0f, 0.0f, 1.0f, -1.0f);
-    context->ConfigureIqPidController(0.001f, 0.0f, 0.0f, 1.0f, -1.0f);
-    context->ConfigureThrottle(A0, 0.8f, 3.0f);
-    context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f);
-    context->ConfigureReference(3.0f);  // max phase current
-    context->ConfigureDebugger(2, 2000);
+    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);

diff -r 83cf9564bd0c -r 11766b5da6ed sensors/throttle.cpp
--- a/sensors/throttle.cpp	Mon Mar 16 15:40:07 2015 +0000
+++ b/sensors/throttle.cpp	Thu Apr 16 04:08:47 2015 +0000
@@ -1,5 +1,6 @@
 #include "includes.h"
 #include "sensors.h"
+#include "filters.h"
 
 Throttle::Throttle(PinName pin, float min, float max) {
     _in = new AnalogVoltageSensor(pin, 1.0f);