Revision 57:059bd1333ba4, committed 2020-10-16

Comitter:

shaorui

Date:

Fri Oct 16 09:08:47 2020 +0000

Parent:

56:fe5056ac6740

Commit message:

1

Changed in this revision

--- a/CAN/CAN_com.cpp	Thu Oct 10 15:03:12 2019 +0000
+++ b/CAN/CAN_com.cpp	Fri Oct 16 09:08:47 2020 +0000
@@ -3,8 +3,12 @@
 
  #define P_MIN -12.5f
  #define P_MAX 12.5f
- #define V_MIN -65.0f
- #define V_MAX 65.0f
+ /*shaorui modify matching to relative gear ration***/
+ //#define V_MIN -65.0f   //GR=6
+ //#define V_MAX 65.0f    //GR=6
+ #define V_MIN -45.0f   
+ #define V_MAX 45.0f    
+/*shaorui modify matching to relative gear ration***/
  #define KP_MIN 0.0f
  #define KP_MAX 500.0f
  #define KD_MIN 0.0f

--- a/Config/motor_config.h	Thu Oct 10 15:03:12 2019 +0000
+++ b/Config/motor_config.h	Fri Oct 16 09:08:47 2020 +0000
@@ -6,7 +6,8 @@
 #define L_Q 0.00008f            //Henries
 #define KT .075f                 //N-m per peak phase amp, = WB*NPP*3/2
 #define NPP 21                  //Number of pole pairs
-#define GR 6.0f                 //Gear ratio
+//#define GR 6.0f                 //Gear ratio
+#define GR 49.0f                 //Gear ratio
 #define KT_OUT 0.45f            //KT*GR
 #define WB 0.00287f              //Flux linkage, Webers.  
 #define R_TH 1.25f              //Kelvin per watt

--- a/PositionSensor/PositionSensor.cpp	Thu Oct 10 15:03:12 2019 +0000
+++ b/PositionSensor/PositionSensor.cpp	Fri Oct 16 09:08:47 2020 +0000
@@ -34,10 +34,10 @@
     
 void PositionSensorAM5147::Sample(float dt){
     GPIOA->ODR &= ~(1 << 15);
-    //raw = spi->write(readAngleCmd);
-    //raw &= 0x3FFF;   
-    raw = spi->write(0);
-    raw = raw>>2;                                                             //Extract last 14 bits
+    raw = spi->write(readAngleCmd);
+    raw &= 0x3FFF;   
+    //raw = spi->write(0);
+    //raw = raw>>2;                                                             //Extract last 14 bits
     GPIOA->ODR |= (1 << 15);
     int off_1 = offset_lut[raw>>7];
     int off_2 = offset_lut[((raw>>7)+1)%128];

--- a/main.cpp	Thu Oct 10 15:03:12 2019 +0000
+++ b/main.cpp	Fri Oct 16 09:08:47 2020 +0000
@@ -236,7 +236,8 @@
                     state = REST_MODE;
                     state_change = 1;
                     gpio.led->write(0);
-                    observer.temperature = (double)(T_AMBIENT + ((observer.resistance/R_NOMINAL) - 1.0f)*254.5f);
+                    //observer.temperature = (double)(T_AMBIENT + ((observer.resistance/R_NOMINAL) - 1.0f)*254.5f);
+                    observer.temperature = (float)(T_AMBIENT + ((observer.resistance/R_NOMINAL) - 1.0f)*254.5f);
                     printf("Winding Resistance:  %f\n\r", observer.resistance);
                     printf("Winding Temperature:  %f\n\r", observer.temperature);
                     
@@ -427,6 +428,7 @@
                 case 'd':
                     controller.i_q_ref = 0;
                     controller.i_d_ref = 0;
+                    //printf("id_ref=iq_ref=0\n\r");
                 }
             }
             
@@ -500,7 +502,8 @@
     init_controller_params(&controller);
     
 
-    pc.baud(921600);                                                            // set serial baud rate
+    //pc.baud(921600); 
+    pc.baud(460800);                                                            // set serial baud rate
     wait(.01);
     pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
     wait(.01);
@@ -524,7 +527,7 @@
         wait(.1);
         //printf("%.3f  %.3f\n\r" , observer.temperature, observer.q_in);
         if(controller.otw_flag){gpio.led->write(!gpio.led->read());}
-             /*
+             
         if(state == MOTOR_MODE)
         {
             if(controller.otw_flag){gpio.led->write(!gpio.led->read());}
@@ -533,9 +536,10 @@
             //printf("%.3f  %.3f  %.3f %.3f %.3f\n\r", controller.v_d, controller.v_q, controller.i_d_filt, controller.i_q_filt, controller.dtheta_elec);
             //printf("%.3f  %.3f  %.3f %.3f\n\r", controller.dtheta_elec, observer.resistance, observer.temperature, observer.temp_measured);
             //printf("%.3f  %.3f\n\r" , observer.temperature, observer.temp_measured);
+            printf("%.3f\n\r",controller.dtheta_mech);
         }
         
-        */
+        
 
     }
 }

--- a/structs.h	Thu Oct 10 15:03:12 2019 +0000
+++ b/structs.h	Fri Oct 16 09:08:47 2020 +0000
@@ -44,7 +44,8 @@
     } ControllerStruct;
 
 typedef struct{
-    double temperature;                                              // Estimated temperature
+//    double temperature;                                              // Estimated temperature
+    float temperature;                                              // Estimated temperature
     float temp_measured;
     float q_in, q_out;
     float resistance;