Revision 10:8bfa80bf4263, committed 2015-03-01

Comitter:

sakthipriya

Date:

Sun Mar 01 08:26:04 2015 +0000

Parent:

9:8b74ed33be76

Commit message:

gotta check ctrl algo - it gives negative value

Changed in this revision

--- a/ACS.cpp	Sun Mar 01 07:41:51 2015 +0000
+++ b/ACS.cpp	Sun Mar 01 08:26:04 2015 +0000
@@ -18,7 +18,7 @@
 uint8_t trflag_mag;
 uint8_t trFlag;         //ticker Flag for gyro
 uint8_t drFlag;         //data-ready interrupt flag for gyro
-
+float pwm;
 //--------------------------------TORQUE ROD--------------------------------------------------------------------------------------------------------------//
 
 void FUNC_ACS_GENPWM(float M[3])
@@ -26,6 +26,10 @@
      
 
      printf("\n\rEnterd PWMGEN function\n\r\r");
+     for(int i = 0 ; i<3;i++)
+        {
+            printf(" %f \t ",M[i]);
+        }
      float DCx = 0;         //Duty cycle of Moment in x, y, z directions
      float ix = 0;          //Current sent in x, y, z TR's
      float timep = 0.02 ;  
@@ -35,7 +39,7 @@
       
      
         ix = Mx * 0.3 ;      //Moment and Current always have the linear relationship
-     
+        ix = 0.554999;
         if( ix>0&& ix < 0.006 )                     //Current and Duty cycle have the linear relationship between 1% and 100%
          {
              DCx =  6*1000000*pow(ix,4) - 377291*pow(ix,3) + 4689.6*pow(ix,2) + 149.19*ix - 0.0008;
@@ -62,8 +66,10 @@
             PWM1.period(timep);
             PWM1 = DCx/100 ;            
          }
-         else if(ix==0)
+         //printf("\n \r b4 %f ",ix);
+          else if(ix==0)
          {
+             printf("\n \r ix====0");
              DCx = 75;
             PWM1.period(timep);
             PWM1 = DCx/100 ;            
@@ -72,8 +78,10 @@
          {
             // printf("!!!!!!!!!!Error!!!!!!!!!");
          } 
-    //DCx = 25;     
-    printf("\n\r icx :%f\n\r",ix);
+    pwm = PWM1;
+    //DCx = 25; 
+    //PWM1 = 0.50;    
+    printf("\n\r icx :%f pwm : %f \n\r",ix,pwm);
     float DCy = 0;         //Duty cycle of Moment in x, y, z directions
      float iy = 0;          //Current sent in x, y, z TR's
        
@@ -119,8 +127,13 @@
          {
             // printf("!!!!!!!!!!Error!!!!!!!!!");
          } 
+    
+    pwm = PWM2; 
+    printf("\n\r icy :%f pwm : %f \n\r",iy,pwm);    
+         
+         
     float DCz = 0;         //Duty cycle of Moment in x, y, z directions
-     float iz = 0;          //Current sent in x, y, z TR's
+    float iz = 0;          //Current sent in x, y, z TR's
        
      float Mz=M[2];            //Time period is set to 0.2s  
                              //Moment in x, y, z directions
@@ -163,7 +176,7 @@
          else
          {
             // printf("!!!!!!!!!!Error!!!!!!!!!");
-         }    
+         }   
     
 printf("\n\rExited PWMGEN function\n\r");
 }