stock mbed AnalogReads current loop closed and working
Fork of priustroller_2 by
Diff: main.cpp
- Revision:
- 33:e7b132029bae
- Parent:
- 32:4e1a223fad52
- Child:
- 34:bfe180de813a
--- a/main.cpp Mon Mar 16 02:43:19 2015 +0000 +++ b/main.cpp Mon Mar 16 03:09:48 2015 +0000 @@ -6,28 +6,20 @@ #include "meta.h" #include "sensors.h" #include "callbacks.h" -#include "isr.h" - -volatile unsigned short global_ib, global_ic; -uint32_t channel_ib, channel_ic; int main() { - NVIC_EnableIRQ(TIM2_IRQn); - NVIC_SetVector(TIM2_IRQn, (uint32_t)TIM2_IRQn_Handler); - Context *context = new Context(); context->ConfigureOutputs(D6, D13, D3, D8); - context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f); - context->ConfigureIdPidController(0.0001f, 0.0f, 0.0f, 5.0f, -5.0f); - context->ConfigureIqPidController(0.00001f, 0.1f, 0.0f, 5.0f, -5.0f); + context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f); + context->ConfigureIdPidController(0.01f, 0.8f, 0.0f, 2.0f, -2.0f); + context->ConfigureIqPidController(0.01f, 0.8f, 0.0f, 2.0f, -2.0f); context->ConfigureThrottle(A0, 0.8f, 3.0f); - context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f); // I guess this configures the ADCs or something + context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f); context->ConfigureReference(5.0f); context->ConfigureDebugger(2, 1000); context->AttachCallBack(&fast, 5000); context->AttachCallBack(&slow, 10); context->AttachCallBack(&debug, 10); context->AttachCallBack(&log, 500); - context->InitData(); context->Start(); }