stock mbed AnalogReads current loop closed and working
Fork of priustroller_2 by
callbacks.cpp@29:cb03760ba9ea, 2015-03-14 (annotated)
- Committer:
- nki
- Date:
- Sat Mar 14 23:42:46 2015 +0000
- Revision:
- 29:cb03760ba9ea
- Parent:
- 27:846c08fb3697
- Child:
- 30:2b6d426f3bfc
Cautionary commit, possibly works
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 | 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(); |
nki | 29:cb03760ba9ea | 15 | |
bwang | 24:f1ff9c7256b5 | 16 | dbg_angle = angle = c->motor->GetPosition(); |
bwang | 24:f1ff9c7256b5 | 17 | |
bwang | 24:f1ff9c7256b5 | 18 | Clarke(-(I_b + I_c), I_b, &alpha, &beta); |
bwang | 11:dccbaa9274c5 | 19 | Parke(alpha, beta, angle, &d, &q); |
bwang | 11:dccbaa9274c5 | 20 | |
nki | 27:846c08fb3697 | 21 | dbg_ialpha = alpha; |
nki | 27:846c08fb3697 | 22 | dbg_ibeta = beta; |
nki | 27:846c08fb3697 | 23 | |
nki | 27:846c08fb3697 | 24 | d_filtered = c->filter_d->Update(d); |
nki | 27:846c08fb3697 | 25 | q_filtered = c->filter_q->Update(q); |
nki | 27:846c08fb3697 | 26 | |
nki | 27:846c08fb3697 | 27 | /* |
nki | 27:846c08fb3697 | 28 | |
nki | 27:846c08fb3697 | 29 | //these envelope d and q about 0. the envelope looks like this: |
nki | 27:846c08fb3697 | 30 | // X= -1 0 1 |
nki | 27:846c08fb3697 | 31 | // ____| | |____ |
nki | 27:846c08fb3697 | 32 | // \___/ |
nki | 27:846c08fb3697 | 33 | if(d_filtered < 1.0f & d_filtered > -1.0f) d_filtered = 0.0f; |
nki | 27:846c08fb3697 | 34 | if(d_filtered < 2.0f & d_filtered >= 1.0f) d_filtered = (d_filtered-1.0f)*d_filtered; |
nki | 27:846c08fb3697 | 35 | if(d_filtered > -2.0f & d_filtered <= -1.0f) d_filtered = (-d_filtered-1.0f)*d_filtered; |
nki | 27:846c08fb3697 | 36 | |
nki | 27:846c08fb3697 | 37 | if(q_filtered < 1.0f & q_filtered > -1.0f) q_filtered = 0.0f; |
nki | 27:846c08fb3697 | 38 | if(q_filtered < 2.0f & q_filtered >= 1.0f) q_filtered = (q_filtered-1.0f)*q_filtered; |
nki | 27:846c08fb3697 | 39 | if(q_filtered > -2.0f & q_filtered <= -1.0f) q_filtered = (-q_filtered-1.0f)*q_filtered; |
nki | 27:846c08fb3697 | 40 | */ |
nki | 27:846c08fb3697 | 41 | |
nki | 27:846c08fb3697 | 42 | dbg_d_filtered = d_filtered; |
nki | 27:846c08fb3697 | 43 | dbg_q_filtered = q_filtered; |
nki | 27:846c08fb3697 | 44 | |
bwang | 11:dccbaa9274c5 | 45 | |
nki | 27:846c08fb3697 | 46 | c->reference->GetReference(angle, -c->user->throttle, &ref_d, &ref_q); |
bwang | 24:f1ff9c7256b5 | 47 | |
bwang | 24:f1ff9c7256b5 | 48 | dbg_ref_d = ref_d; |
bwang | 24:f1ff9c7256b5 | 49 | dbg_ref_q = ref_q; |
bwang | 24:f1ff9c7256b5 | 50 | dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered); |
bwang | 24:f1ff9c7256b5 | 51 | dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered); |
bwang | 11:dccbaa9274c5 | 52 | |
nki | 25:0003b824dd7d | 53 | /* |
bwang | 11:dccbaa9274c5 | 54 | vd = 0.0f; |
bwang | 11:dccbaa9274c5 | 55 | vq = c->user->throttle; |
nki | 25:0003b824dd7d | 56 | */ |
nki | 27:846c08fb3697 | 57 | |
nki | 25:0003b824dd7d | 58 | vd = 0.05f; |
nki | 25:0003b824dd7d | 59 | vq = 0.95f; |
nki | 27:846c08fb3697 | 60 | |
nki | 27:846c08fb3697 | 61 | |
bwang | 11:dccbaa9274c5 | 62 | InverseParke(vd, vq, angle, &valpha, &vbeta); |
bwang | 11:dccbaa9274c5 | 63 | |
bwang | 11:dccbaa9274c5 | 64 | c->modulator->Update(valpha, vbeta); |
bwang | 11:dccbaa9274c5 | 65 | } |
bwang | 11:dccbaa9274c5 | 66 | |
bwang | 11:dccbaa9274c5 | 67 | void slow(Context *c) { |
bwang | 11:dccbaa9274c5 | 68 | c->user->UpdateThrottle(); |
bwang | 11:dccbaa9274c5 | 69 | } |
bwang | 11:dccbaa9274c5 | 70 | |
bwang | 11:dccbaa9274c5 | 71 | void debug(Context *c) { |
nki | 29:cb03760ba9ea | 72 | c->serial->printf("CR1:%x CR2:%x SMPR1:%x SMPR2:%x\n\r", ADC1->CR1, ADC1->CR2, ADC1->SMPR1, ADC1->SMPR2); |
bwang | 24:f1ff9c7256b5 | 73 | } |
bwang | 24:f1ff9c7256b5 | 74 | |
bwang | 24:f1ff9c7256b5 | 75 | void log(Context *c) { |
bwang | 24:f1ff9c7256b5 | 76 | //c->debugger->Write(0, dbg_ib); |
bwang | 24:f1ff9c7256b5 | 77 | //c->debugger->Write(1, dbg_ic); |
bwang | 11:dccbaa9274c5 | 78 | } |