stock mbed AnalogReads current loop closed and working
Fork of priustroller_2 by
callbacks.cpp@22:46d164aa4f1c, 2015-03-09 (annotated)
- Committer:
- nki
- Date:
- Mon Mar 09 07:44:57 2015 +0000
- Revision:
- 22:46d164aa4f1c
- Parent:
- 21:da41c08e51bc
- Child:
- 24:f1ff9c7256b5
SVM table now correct. 2.05A at 65V,; todo: correct 50% dtc at 0 throttle; incorporate PI control
Who changed what in which revision?
User | Revision | Line number | New 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 | 11:dccbaa9274c5 | 8 | |
bwang | 11:dccbaa9274c5 | 9 | void fast(Context *c) { |
bwang | 11:dccbaa9274c5 | 10 | float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta; |
nki | 21:da41c08e51bc | 11 | float I_b, I_c, angle, d_filtered, q_filtered, vd, vq; |
bwang | 11:dccbaa9274c5 | 12 | I_b = c->motor->GetCurrentB(); |
bwang | 11:dccbaa9274c5 | 13 | I_c = c->motor->GetCurrentC(); |
bwang | 11:dccbaa9274c5 | 14 | angle = c->motor->GetPosition(); |
bwang | 17:fd6771a6685a | 15 | dbg_angle = angle; |
nki | 21:da41c08e51bc | 16 | |
bwang | 12:c35ad58f6620 | 17 | Clarke(-(I_b + I_c), I_b, &alpha, &beta); //--switched to standard clarke transform |
bwang | 11:dccbaa9274c5 | 18 | Parke(alpha, beta, angle, &d, &q); |
bwang | 11:dccbaa9274c5 | 19 | |
nki | 21:da41c08e51bc | 20 | d_filtered = c->filter_d->Update(d); |
nki | 21:da41c08e51bc | 21 | q_filtered = c->filter_q->Update(q); //--was Update(d), not sure if my typo or orignal |
bwang | 11:dccbaa9274c5 | 22 | |
bwang | 11:dccbaa9274c5 | 23 | c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q); |
nki | 21:da41c08e51bc | 24 | |
nki | 21:da41c08e51bc | 25 | vd = c->pid_d->Update(ref_d, d_filtered); |
nki | 21:da41c08e51bc | 26 | vq = c->pid_q->Update(ref_q, q_filtered); |
bwang | 11:dccbaa9274c5 | 27 | |
bwang | 11:dccbaa9274c5 | 28 | vd = 0.0f; |
bwang | 11:dccbaa9274c5 | 29 | vq = c->user->throttle; |
bwang | 11:dccbaa9274c5 | 30 | |
bwang | 11:dccbaa9274c5 | 31 | InverseParke(vd, vq, angle, &valpha, &vbeta); |
bwang | 11:dccbaa9274c5 | 32 | |
bwang | 11:dccbaa9274c5 | 33 | c->modulator->Update(valpha, vbeta); |
bwang | 11:dccbaa9274c5 | 34 | } |
bwang | 11:dccbaa9274c5 | 35 | |
bwang | 11:dccbaa9274c5 | 36 | void slow(Context *c) { |
bwang | 11:dccbaa9274c5 | 37 | c->user->UpdateThrottle(); |
bwang | 11:dccbaa9274c5 | 38 | } |
bwang | 11:dccbaa9274c5 | 39 | |
bwang | 11:dccbaa9274c5 | 40 | void debug(Context *c) { |
nki | 22:46d164aa4f1c | 41 | //c->serial->printf("%f %f %f %f %f %f\n\r", dbg_angle, dbg_dtcA, dbg_dtcB, dbg_dtcC, dbg_t1, dbg_t2); |
bwang | 11:dccbaa9274c5 | 42 | } |