main.cpp

00001 #include "includes.h"
00002 #include "transforms.h"
00003 #include "filters.h"
00004 #include "context.h"
00005 #include "core.h"
00006 #include "meta.h"
00007 #include "sensors.h"
00008 #include "callbacks.h"
00009 
00010 int main() { 
00011     Context *context = new Context();
00012     context->ConfigureOutputs(D13, D3, D6, D2);
00013     context->ConfigureCurrentSensors(A1, A2, 0.0016f, 0.7f); //scale in V/A, filter strength
00014     context->ConfigureIdPidController(0.0000012f, 0.0f, 0.0f, 1.0f, -1.0f);
00015     context->ConfigureIqPidController(0.0000012f, 0.0f, 0.0f, 1.0f, -1.0f);
00016     context->ConfigureThrottle(A0, 0.9f, 2.5f, 0.99f);  //last term is LPF strength
00017     context->ConfigurePositionSensor(A3, A4, 0.366f, 0.655f, 0.355f, 0.626f, 260.0f); //205 is default
00018     context->ConfigureReference(300.0f);  // max phase current
00019     context->ConfigureDebugger(4, 2000);
00020     context->AttachCallBack(&fast, 5000);
00021     context->AttachCallBack(&slow, 10);
00022     context->AttachCallBack(&debug, 10);
00023     context->AttachCallBack(&log, 500);
00024     context->Start();
00025 }