Diff: Calibration/calibration.cpp

Revision:

49:7eac11914980

Parent:

48:1b51771c3647

Child:

51:29e1686e8b3e

--- a/Calibration/calibration.cpp	Fri Feb 07 11:31:37 2020 +0000
+++ b/Calibration/calibration.cpp	Thu Mar 19 03:48:24 2020 +0000
@@ -17,7 +17,7 @@
     float theta_ref = 0;
     float theta_actual = 0;
     //float v_d = .15f;
-    float v_d = .23f;                                                               //Put all volts on the D-Axis
+    float v_d = .15f;                                                               //Put all volts on the D-Axis
     float v_q = 0.0f;
     float v_u, v_v, v_w = 0;
     float dtc_u, dtc_v, dtc_w = .5f;
@@ -63,7 +63,7 @@
        theta_ref += 0.001f;
         }
     float theta_end = ps->GetMechPositionFixed();
-    int direction = (theta_end - theta_start)>0;
+    int direction = 1;//(theta_end - theta_start)>0;
     printf("Theta Start:   %f    Theta End:  %f\n\r", theta_start, theta_end);
     printf("Direction:  %d\n\r", direction);
     if(direction){printf("Phasing correct\n\r");}
@@ -90,7 +90,7 @@
     float theta_ref = 0;
     float theta_actual = 0;
     //float v_d = .15f;
-    float v_d = .2f;                                                              // Put volts on the D-Axis
+    float v_d = .15f;                                                              // Put volts on the D-Axis
     float v_q = 0.0f;
     float v_u, v_v, v_w = 0;
     float dtc_u, dtc_v, dtc_w = .5f;
@@ -139,7 +139,9 @@
        theta_actual = ps->GetMechPositionFixed();
        error_f[i] = theta_ref/NPP - theta_actual;
        raw_f[i] = ps->GetRawPosition();
-        printf("ref %.4f\n\r  actual %.4f\n\r   raw %d\n\r", theta_ref/(NPP), theta_actual, raw_f[i]);
+       printf("%.4f   %.4f    %d\n\r", theta_ref/(NPP), theta_actual, raw_f[i]);
+
+       // printf("ref %.4f\n\r  actual %.4f\n\r   raw %d\n\r", theta_ref/(NPP), theta_actual, raw_f[i]);
        //theta_ref += delta;
         }
     
@@ -164,7 +166,9 @@
        theta_actual = ps->GetMechPositionFixed();                                    // get mechanical position
        error_b[i] = theta_ref/NPP - theta_actual;
        raw_b[i] = ps->GetRawPosition();
-       printf("ref %.4f\n\r  actual %.4f\n\r   raw %d\n\r", theta_ref/(NPP), theta_actual, raw_b[i]);
+       printf("%.4f   %.4f    %d\n\r", theta_ref/(NPP), theta_actual, raw_b[i]);
+
+       //printf("ref %.4f\n\r  actual %.4f\n\r   raw %d\n\r", theta_ref/(NPP), theta_actual, raw_b[i]);
        //theta_ref -= delta;
         }    
         
@@ -480,7 +484,7 @@
     jps->WriteLUT(joint); 
     
    
-    jps->ReadLUT();
+//    jps->ReadLUT();
     
     int joint_raw_f[n] = {0};
     int joint_raw_b[n] = {0};
@@ -490,11 +494,11 @@
     float theta_joint_actual = 0;
     
     //float v_d = .15f;
-    float v_d = .2f;                                                              // Put volts on the D-Axis
+    float v_d = .18f;                                                              // Put volts on the D-Axis
     float v_q = 0.0f;
     float v_u, v_v, v_w = 0;
     float dtc_u, dtc_v, dtc_w = .5f;
-    
+    PHASE_ORDER =1;                        //!!!hjb added, direction always run error, so pre to 1 in hardware UVW.
         
     ///Set voltage angle to zero, wait for rotor position to settle
     abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w);                                 // inverse dq0 transform on voltages
@@ -546,7 +550,7 @@
        joint_raw_f[i] = jps->GetRawPosition();
        
         //printf("%.4f   %.4f    %d\n\r", theta_joint_ref*(1+1/GR)/(NPP), theta_joint_actual, joint_raw_f[i]);
-       printf("ref %.4f\n\r  actual %.4f\n\r   raw %d\n\r", (theta_joint_ref-(1/GR)*theta_ref)/NPP, theta_joint_actual, joint_raw_f[i]);
+       printf("%.4f   %.4f   %d\n\r", (theta_joint_ref-(1/GR)*theta_ref)/NPP, theta_joint_actual, joint_raw_f[i]);
         
        //theta_ref += delta;
         }
@@ -580,7 +584,7 @@
        
        
       //printf("%.4f   %.4f    %d-\n\r", theta_ref*(1+1/GR)/(NPP),  theta_joint_actual, joint_raw_b[i]);
-        printf("ref %.4f\n\r  actual %.4f\n\r   raw %d\n\r", (theta_joint_ref-(1/GR)*theta_ref)/NPP, theta_joint_actual, joint_raw_b[i]);
+        printf("%.4f   %.4f   %d\n\r", (theta_joint_ref-(1/GR)*theta_ref)/NPP, theta_joint_actual, joint_raw_b[i]);
        //theta_ref -= delta;
         }