Revision 56:85a26f839af2, committed 2016-01-31

Comitter:

bwang

Date:

Sun Jan 31 06:44:58 2016 +0000

Parent:

55:f102d271e808

Commit message:

latest rev

Changed in this revision

diff -r f102d271e808 -r 85a26f839af2 callbacks.cpp
--- a/callbacks.cpp	Thu May 21 02:19:25 2015 +0000
+++ b/callbacks.cpp	Sun Jan 31 06:44:58 2016 +0000
@@ -9,12 +9,18 @@
 
 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;
+    float I_b, I_c, angle, d_filtered, q_filtered, vd, vq, speed;
     dbg_ib = I_b = c->motor->GetCurrentB();
     dbg_ic = I_c = c->motor->GetCurrentC();
     dbg_angle = angle = c->motor->GetPosition();
     float speed_raw = c->motor->GetSpeed();
-    dbg_speed = c->filter_sp->Update(speed_raw);
+    dbg_speed = speed = c->filter_sp->Update(speed_raw);
+    //float delta = speed / 5.0f;
+    float delta = 0.0f;
+    if (delta > 70.0f) delta = 70.0f;
+    angle += delta;
+    if (angle >= 360.0f) angle -= 360.0f;
+    if (angle < 0.0f) angle += 360.0f;
     
     Clarke(-(I_b + I_c), I_b, &alpha, &beta);
     Parke(alpha, beta, angle, &d, &q);
@@ -74,7 +80,7 @@
 
 void log(Context *c) {
     //c->debugger->Write(0, dbg_speed);
-    //c->debugger->Write(1, dbg_q_filtered);
-    //c->debugger->Write(2, dbg_d_filtered);
-    //c->debugger->Write(3, dbg_angle);
+    //c->debugger->Write(1, dbg_ib);
+    //c->debugger->Write(2, dbg_ic);
+    //c->debugger->Write(3, dbg_q_filtered);
 }
\ No newline at end of file

diff -r f102d271e808 -r 85a26f839af2 context.cpp
--- a/context.cpp	Thu May 21 02:19:25 2015 +0000
+++ b/context.cpp	Sun Jan 31 06:44:58 2016 +0000
@@ -110,7 +110,7 @@
     filter_d = new MeanFilter(_filter_strength);
     filter_q = new MeanFilter(_filter_strength);
     filter_th = new MeanFilter(_th_filter_strength);
-    filter_sp = new MeanFilter(0.99);
+    filter_sp = new MeanFilter(0.999);
     
     
     serial = new Serial(USBTX, USBRX);

diff -r f102d271e808 -r 85a26f839af2 core/inverter.cpp
--- a/core/inverter.cpp	Thu May 21 02:19:25 2015 +0000
+++ b/core/inverter.cpp	Sun Jan 31 06:44:58 2016 +0000
@@ -9,9 +9,9 @@
     _pwm_a = new PwmOut(ph_a);
     _pwm_b = new PwmOut(ph_b);
     _pwm_c = new PwmOut(ph_c);
-    _pwm_a->period_us(200);
-    _pwm_b->period_us(200);
-    _pwm_c->period_us(200);
+    _pwm_a->period_us(100);
+    _pwm_b->period_us(100);
+    _pwm_c->period_us(100);
     
     _sense_bus = sense_bus;
     _sense_t = sense_t;

diff -r f102d271e808 -r 85a26f839af2 main.cpp
--- a/main.cpp	Thu May 21 02:19:25 2015 +0000
+++ b/main.cpp	Sun Jan 31 06:44:58 2016 +0000
@@ -11,11 +11,11 @@
     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(0.0000032f, 0.0f, 0.0f, 1.0f, -1.0f);
-    context->ConfigureIqPidController(0.0000032f, 0.0f, 0.0f, 1.0f, -1.0f);
+    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, 275.0f); //205 is default
-    context->ConfigureReference(200.0f);  // max phase current
+    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);