Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Calibration/Calibration.cpp
- Committer:
- bwang
- Date:
- 2017-04-23
- Revision:
- 117:97da9eb4300e
- Child:
- 118:2b6dab10b69d
File content as of revision 117:97da9eb4300e:
#include <math.h> #include "BREMSStructs.h" #include "Calibration.h" #include "MathHelpers.h" #include "Transforms.h" #include "config_pins.h" #include "config_motor.h" #include "config_inverter.h" //output is in modulation depth void abc(float theta, float vd, float vq, float *a, float *b, float *c) { float valpha, vbeta; float va, vb, vc, voff; invpark(vd, vq, sinf(theta), cosf(theta), &valpha, &vbeta); invclarke(valpha, vbeta, &va, &vb); vc = -va - vb; voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;//don't think about it va = va - voff; vb = vb - voff; vc = vc - voff; *a = va; *b = vb; *c = vc; } void calibrate_position(IOStruct *io, ControlStruct *control) { io->pc->printf("%s\n", "Starting calibration procedure"); const int n = (int) (128 * POLE_PAIRS); const int n2 = 10; float delta = 2 * PI * POLE_PAIRS / (n * n2); float error_f[n] = {0}; float error_b[n] = {0}; float theta_ref = 0.0f; float theta_actual = 0.0f; float vd = 0.1f; float vq = 0.0f; float va, vb, vc = 0.0f; abc(theta_ref, vd, vq, &va, &vb, &vc); for (int i = 0; i < 40000; i++) { set_dtc(io->a, 0.5f + 0.5f * va * MODULATION_MAX); set_dtc(io->b, 0.5f + 0.5f * vb * MODULATION_MAX); set_dtc(io->c, 0.5f + 0.5f * vc * MODULATION_MAX); wait_us(100); } for (int i = 0; i < n; i++) { for (int j = 0; j < n2; j++) { theta_ref += delta; abc(theta_ref, vd, vq, &va, &vb, &vc); set_dtc(io->a, 0.5f + 0.5f * va * MODULATION_MAX); set_dtc(io->b, 0.5f + 0.5f * vb * MODULATION_MAX); set_dtc(io->c, 0.5f + 0.5f * vc * MODULATION_MAX); wait_us(100); } theta_actual = io->pos->GetMechPosition(); error_f[i] = theta_ref / POLE_PAIRS - theta_actual; } for (int i = 0; i < n; i++) { for (int j = 0; j < n2; j++) { theta_ref -= delta; abc(theta_ref, vd, vq, &va, &vb, &vc); set_dtc(io->a, 0.5f + 0.5f * va * MODULATION_MAX); set_dtc(io->b, 0.5f + 0.5f * vb * MODULATION_MAX); set_dtc(io->c, 0.5f + 0.5f * vc * MODULATION_MAX); wait_us(100); } theta_actual = io->pos->GetMechPosition(); error_b[i] = theta_ref / POLE_PAIRS - theta_actual; } float offset = 0.0f; for (int i = 0; i < n; i++) { offset += (error_f[i] + error_b[n - 1 - i]) / (2.0f * n); } offset = fmodf(offset * POLE_PAIRS, 2 * PI); io->pc->printf("Offset: %f\n", offset); }