stock mbed AnalogReads current loop closed and working
Fork of priustroller_2 by
main.cpp
- Committer:
- bwang
- Date:
- 2016-01-31
- Revision:
- 56:85a26f839af2
- Parent:
- 55:f102d271e808
File content as of revision 56:85a26f839af2:
#include "includes.h" #include "transforms.h" #include "filters.h" #include "context.h" #include "core.h" #include "meta.h" #include "sensors.h" #include "callbacks.h" int main() { Context *context = new Context(); context->ConfigureOutputs(D13, D3, D6, D2); context->ConfigureCurrentSensors(A1, A2, 0.0016f, 0.7f); //scale in V/A, filter strength context->ConfigureIdPidController(0.0000012f, 0.0f, 0.0f, 1.0f, -1.0f); context->ConfigureIqPidController(0.0000012f, 0.0f, 0.0f, 1.0f, -1.0f); context->ConfigureThrottle(A0, 0.9f, 2.5f, 0.99f); //last term is LPF strength context->ConfigurePositionSensor(A3, A4, 0.366f, 0.655f, 0.355f, 0.626f, 260.0f); //205 is default context->ConfigureReference(300.0f); // max phase current context->ConfigureDebugger(4, 2000); context->AttachCallBack(&fast, 5000); context->AttachCallBack(&slow, 10); context->AttachCallBack(&debug, 10); context->AttachCallBack(&log, 500); context->Start(); }