stock mbed AnalogReads current loop closed and working
Fork of priustroller_2 by
callbacks.cpp
- Committer:
- nki
- Date:
- 2015-03-09
- Revision:
- 22:46d164aa4f1c
- Parent:
- 21:da41c08e51bc
- Child:
- 24:f1ff9c7256b5
File content as of revision 22:46d164aa4f1c:
#include "includes.h" #include "transforms.h" #include "filters.h" #include "context.h" #include "core.h" #include "meta.h" #include "sensors.h" void fast(Context *c) { float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta; float I_b, I_c, angle, d_filtered, q_filtered, vd, vq; I_b = c->motor->GetCurrentB(); I_c = c->motor->GetCurrentC(); angle = c->motor->GetPosition(); dbg_angle = angle; Clarke(-(I_b + I_c), I_b, &alpha, &beta); //--switched to standard clarke transform Parke(alpha, beta, angle, &d, &q); d_filtered = c->filter_d->Update(d); q_filtered = c->filter_q->Update(q); //--was Update(d), not sure if my typo or orignal c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q); vd = c->pid_d->Update(ref_d, d_filtered); vq = c->pid_q->Update(ref_q, q_filtered); vd = 0.0f; vq = c->user->throttle; InverseParke(vd, vq, angle, &valpha, &vbeta); c->modulator->Update(valpha, vbeta); } void slow(Context *c) { c->user->UpdateThrottle(); } void debug(Context *c) { //c->serial->printf("%f %f %f %f %f %f\n\r", dbg_angle, dbg_dtcA, dbg_dtcB, dbg_dtcC, dbg_t1, dbg_t2); }