Bayley Wang
/
foc-ed_in_the_bot_compact
robot
CHANGELOG.txt
- Committer:
- bwang
- Date:
- 2017-05-07
- Revision:
- 158:882f9c208378
- Parent:
- 157:a9b2002994d5
- Child:
- 159:9dbc0657238c
File content as of revision 158:882f9c208378:
04/30/2017 02:45 - added CHANGELOG.txt 04/30/2017 04:51 - non-saturating tables, 8KW out to 600 rad/s. Extremely high top speed (1500 rad/s). code changes: removed a bunch of debug variables and commented-out code 05/01/2017 00:04 - added some decoupling terms, which may or may not work. 05/01/2017 01:21 - driving code, 0.7g, achieved 40mph. Has throttle filtering 05/01/2017 03:17 - changed throttle limits to match 56k pulldown; relaxed THROTTLE_CRAZY bounds a bit 05/01/2017 06:40 - more tweaks to throttle limits 05/01/2017 07:21 - rising edge from disabled state now resets usec count in PwmIn 05/01/2017 07:58 - W_CRAZY limit bumped up, never an issue on the road but may behave strangely on the bench 05/01/2017 08:13 - enabled->disabled now resets usec count in PwmIn 05/01/2017 09:00 - bumped up THROTTLE_LOW from 1020 to 1050 05/02/2017 06:54 - fast logging is now back to logging vd, vq instead of decoupling terms 05/03/2017 08:24 - added circular buffer code 05/03/2017 08:27 - CircularBuffer moved to its own .cpp file 05/03/2017 08:36 - added median and moving average filters 05/03/2017 09:26 - added use_median option to circular buffers (since average filters may not want to recalculate the median every sample) 05/03/2017 09:39 - indexing bugfix in median code 05/04/2017 08:53 - added fast path for median-of-3 05/04/2017 10:33 - removed throttle_crazy checks as these lead to dangerous behavior; beginnings of new filter code in main.cpp 05/04/2017 11:14 - removed w_crazy checks, switched velocity to median filtering 05/04/2017 12:44 - moved median filter objects to ControlStruct, is_driving() now checks % torque cmd instead of raw throttle value 05/04/2017 13:34 - changed logic in PwmIn::handle_fall, which no longer resets timer on invalid edges 05/04/2017 17:16 - encoder class now sets TIM->ARR to CPR - 1 05/07/2017 13:36 - added overmodulation option to config_loop