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Dependencies:   mbed

Fork of priustroller_2 by N K

callbacks.cpp@17:fd6771a6685a, 2015-03-09 (annotated)

Committer:
bwang
Date:
Mon Mar 09 03:05:23 2015 +0000
Revision:
17:fd6771a6685a
Parent:
16:c10d0aa3c0e1
Child:
21:da41c08e51bc
tweaks to debugging code - debug registers are now global; define aliases to them in includes.h

Who changed what in which revision?

UserRevisionLine numberNew 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 11:dccbaa9274c5 8
bwang 11:dccbaa9274c5 9 void fast(Context *c) {
bwang 11:dccbaa9274c5 10 float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta;
bwang 11:dccbaa9274c5 11 float I_b, I_c, angle;
bwang 11:dccbaa9274c5 12 I_b = c->motor->GetCurrentB();
bwang 11:dccbaa9274c5 13 I_c = c->motor->GetCurrentC();
bwang 11:dccbaa9274c5 14 angle = c->motor->GetPosition();
bwang 17:fd6771a6685a 15 dbg_angle = angle;
bwang 11:dccbaa9274c5 16
bwang 12:c35ad58f6620 17 Clarke(-(I_b + I_c), I_b, &alpha, &beta); //--switched to standard clarke transform
bwang 11:dccbaa9274c5 18 Parke(alpha, beta, angle, &d, &q);
bwang 11:dccbaa9274c5 19
bwang 11:dccbaa9274c5 20 float d_filtered = c->filter_d->Update(d);
bwang 12:c35ad58f6620 21 float q_filtered = c->filter_q->Update(q); //--was Update(d), not sure if my typo or orignal
bwang 12:c35ad58f6620 22
bwang 17:fd6771a6685a 23 dbg_d_filtered = d_filtered;
bwang 17:fd6771a6685a 24 dbg_q_filtered = q_filtered;
bwang 11:dccbaa9274c5 25
bwang 11:dccbaa9274c5 26 c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q);
bwang 11:dccbaa9274c5 27
bwang 11:dccbaa9274c5 28 float vd = c->pid_d->Update(ref_d, d_filtered);
bwang 11:dccbaa9274c5 29 float vq = c->pid_q->Update(ref_q, q_filtered);
bwang 11:dccbaa9274c5 30
bwang 11:dccbaa9274c5 31 vd = 0.0f;
bwang 11:dccbaa9274c5 32 vq = c->user->throttle;
bwang 11:dccbaa9274c5 33
bwang 11:dccbaa9274c5 34 InverseParke(vd, vq, angle, &valpha, &vbeta);
bwang 11:dccbaa9274c5 35
bwang 11:dccbaa9274c5 36 c->modulator->Update(valpha, vbeta);
bwang 11:dccbaa9274c5 37 }
bwang 11:dccbaa9274c5 38
bwang 11:dccbaa9274c5 39 void slow(Context *c) {
bwang 11:dccbaa9274c5 40 c->user->UpdateThrottle();
bwang 11:dccbaa9274c5 41 }
bwang 11:dccbaa9274c5 42
bwang 11:dccbaa9274c5 43 void debug(Context *c) {
bwang 17:fd6771a6685a 44 c->serial->printf("%f \n\r", dbg_angle);
bwang 11:dccbaa9274c5 45 }