Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Calibration/Calibration.cpp@155:7c6005933d4c, 2017-05-04 (annotated)
- Committer:
- bwang
- Date:
- Thu May 04 17:35:10 2017 +0000
- Revision:
- 155:7c6005933d4c
- Parent:
- 119:ad7a6af6fba3
- Child:
- 157:a9b2002994d5
05/04/2017 13:34 - changed logic in PwmIn::handle_fall, which no longer resets timer on invalid edges
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 117:97da9eb4300e | 1 | #include <math.h> |
bwang | 117:97da9eb4300e | 2 | |
bwang | 117:97da9eb4300e | 3 | #include "BREMSStructs.h" |
bwang | 117:97da9eb4300e | 4 | #include "Calibration.h" |
bwang | 117:97da9eb4300e | 5 | #include "MathHelpers.h" |
bwang | 117:97da9eb4300e | 6 | #include "Transforms.h" |
bwang | 117:97da9eb4300e | 7 | #include "config_pins.h" |
bwang | 117:97da9eb4300e | 8 | #include "config_motor.h" |
bwang | 117:97da9eb4300e | 9 | #include "config_inverter.h" |
bwang | 117:97da9eb4300e | 10 | |
bwang | 117:97da9eb4300e | 11 | //output is in modulation depth |
bwang | 117:97da9eb4300e | 12 | void abc(float theta, float vd, float vq, float *a, float *b, float *c) { |
bwang | 117:97da9eb4300e | 13 | float valpha, vbeta; |
bwang | 117:97da9eb4300e | 14 | float va, vb, vc, voff; |
bwang | 117:97da9eb4300e | 15 | |
bwang | 117:97da9eb4300e | 16 | invpark(vd, vq, sinf(theta), cosf(theta), &valpha, &vbeta); |
bwang | 117:97da9eb4300e | 17 | invclarke(valpha, vbeta, &va, &vb); |
bwang | 117:97da9eb4300e | 18 | vc = -va - vb; |
bwang | 117:97da9eb4300e | 19 | |
bwang | 117:97da9eb4300e | 20 | voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;//don't think about it |
bwang | 117:97da9eb4300e | 21 | va = va - voff; |
bwang | 117:97da9eb4300e | 22 | vb = vb - voff; |
bwang | 117:97da9eb4300e | 23 | vc = vc - voff; |
bwang | 117:97da9eb4300e | 24 | |
bwang | 117:97da9eb4300e | 25 | *a = va; |
bwang | 117:97da9eb4300e | 26 | *b = vb; |
bwang | 117:97da9eb4300e | 27 | *c = vc; |
bwang | 117:97da9eb4300e | 28 | } |
bwang | 117:97da9eb4300e | 29 | |
bwang | 118:2b6dab10b69d | 30 | void calibrate_position(IOStruct *io) { |
bwang | 117:97da9eb4300e | 31 | io->pc->printf("%s\n", "Starting calibration procedure"); |
bwang | 117:97da9eb4300e | 32 | |
bwang | 119:ad7a6af6fba3 | 33 | const int n = (int) (128); |
bwang | 117:97da9eb4300e | 34 | const int n2 = 10; |
bwang | 117:97da9eb4300e | 35 | |
bwang | 119:ad7a6af6fba3 | 36 | float delta = 2 * PI / (n * n2); |
bwang | 117:97da9eb4300e | 37 | |
bwang | 117:97da9eb4300e | 38 | float error_f[n] = {0}; |
bwang | 117:97da9eb4300e | 39 | float error_b[n] = {0}; |
bwang | 117:97da9eb4300e | 40 | |
bwang | 117:97da9eb4300e | 41 | float theta_ref = 0.0f; |
bwang | 117:97da9eb4300e | 42 | float theta_actual = 0.0f; |
bwang | 119:ad7a6af6fba3 | 43 | float theta_last = 0.0f; |
bwang | 119:ad7a6af6fba3 | 44 | float rollover = 0.0f; |
bwang | 117:97da9eb4300e | 45 | |
bwang | 118:2b6dab10b69d | 46 | float vd = 0.5f; |
bwang | 117:97da9eb4300e | 47 | float vq = 0.0f; |
bwang | 117:97da9eb4300e | 48 | float va, vb, vc = 0.0f; |
bwang | 117:97da9eb4300e | 49 | |
bwang | 117:97da9eb4300e | 50 | abc(theta_ref, vd, vq, &va, &vb, &vc); |
bwang | 117:97da9eb4300e | 51 | |
bwang | 117:97da9eb4300e | 52 | for (int i = 0; i < 40000; i++) { |
bwang | 117:97da9eb4300e | 53 | set_dtc(io->a, 0.5f + 0.5f * va * MODULATION_MAX); |
bwang | 117:97da9eb4300e | 54 | set_dtc(io->b, 0.5f + 0.5f * vb * MODULATION_MAX); |
bwang | 117:97da9eb4300e | 55 | set_dtc(io->c, 0.5f + 0.5f * vc * MODULATION_MAX); |
bwang | 117:97da9eb4300e | 56 | wait_us(100); |
bwang | 117:97da9eb4300e | 57 | } |
bwang | 117:97da9eb4300e | 58 | |
bwang | 119:ad7a6af6fba3 | 59 | theta_last = io->pos->GetElecPosition(); |
bwang | 117:97da9eb4300e | 60 | for (int i = 0; i < n; i++) { |
bwang | 117:97da9eb4300e | 61 | for (int j = 0; j < n2; j++) { |
bwang | 117:97da9eb4300e | 62 | theta_ref += delta; |
bwang | 117:97da9eb4300e | 63 | abc(theta_ref, vd, vq, &va, &vb, &vc); |
bwang | 117:97da9eb4300e | 64 | |
bwang | 117:97da9eb4300e | 65 | set_dtc(io->a, 0.5f + 0.5f * va * MODULATION_MAX); |
bwang | 117:97da9eb4300e | 66 | set_dtc(io->b, 0.5f + 0.5f * vb * MODULATION_MAX); |
bwang | 117:97da9eb4300e | 67 | set_dtc(io->c, 0.5f + 0.5f * vc * MODULATION_MAX); |
bwang | 118:2b6dab10b69d | 68 | wait_us(3000); |
bwang | 117:97da9eb4300e | 69 | } |
bwang | 119:ad7a6af6fba3 | 70 | |
bwang | 119:ad7a6af6fba3 | 71 | theta_actual = io->pos->GetElecPosition(); |
bwang | 119:ad7a6af6fba3 | 72 | |
bwang | 119:ad7a6af6fba3 | 73 | //compensate for position rollover |
bwang | 119:ad7a6af6fba3 | 74 | if (theta_actual - theta_last < -PI) rollover += 2 * PI; |
bwang | 119:ad7a6af6fba3 | 75 | if (theta_actual - theta_last > PI) rollover -= 2 * PI; |
bwang | 119:ad7a6af6fba3 | 76 | io->pc->printf("%f,%f\n", theta_actual + rollover, theta_ref); |
bwang | 119:ad7a6af6fba3 | 77 | |
bwang | 119:ad7a6af6fba3 | 78 | theta_last = theta_actual; |
bwang | 119:ad7a6af6fba3 | 79 | |
bwang | 119:ad7a6af6fba3 | 80 | error_f[i] = theta_ref - theta_actual - rollover; |
bwang | 117:97da9eb4300e | 81 | } |
bwang | 117:97da9eb4300e | 82 | |
bwang | 117:97da9eb4300e | 83 | for (int i = 0; i < n; i++) { |
bwang | 117:97da9eb4300e | 84 | for (int j = 0; j < n2; j++) { |
bwang | 117:97da9eb4300e | 85 | theta_ref -= delta; |
bwang | 117:97da9eb4300e | 86 | abc(theta_ref, vd, vq, &va, &vb, &vc); |
bwang | 117:97da9eb4300e | 87 | |
bwang | 117:97da9eb4300e | 88 | set_dtc(io->a, 0.5f + 0.5f * va * MODULATION_MAX); |
bwang | 117:97da9eb4300e | 89 | set_dtc(io->b, 0.5f + 0.5f * vb * MODULATION_MAX); |
bwang | 117:97da9eb4300e | 90 | set_dtc(io->c, 0.5f + 0.5f * vc * MODULATION_MAX); |
bwang | 118:2b6dab10b69d | 91 | wait_us(3000); |
bwang | 117:97da9eb4300e | 92 | } |
bwang | 119:ad7a6af6fba3 | 93 | |
bwang | 119:ad7a6af6fba3 | 94 | theta_actual = io->pos->GetElecPosition(); |
bwang | 119:ad7a6af6fba3 | 95 | |
bwang | 119:ad7a6af6fba3 | 96 | if (theta_actual - theta_last < -PI) rollover += 2 * PI; |
bwang | 119:ad7a6af6fba3 | 97 | if (theta_actual - theta_last > PI) rollover -= 2 * PI; |
bwang | 119:ad7a6af6fba3 | 98 | io->pc->printf("%f,%f\n", theta_actual + rollover, theta_ref); |
bwang | 119:ad7a6af6fba3 | 99 | |
bwang | 119:ad7a6af6fba3 | 100 | theta_last = theta_actual; |
bwang | 119:ad7a6af6fba3 | 101 | |
bwang | 119:ad7a6af6fba3 | 102 | error_b[i] = theta_ref - theta_actual- rollover; |
bwang | 117:97da9eb4300e | 103 | } |
bwang | 117:97da9eb4300e | 104 | |
bwang | 117:97da9eb4300e | 105 | float offset = 0.0f; |
bwang | 117:97da9eb4300e | 106 | for (int i = 0; i < n; i++) { |
bwang | 117:97da9eb4300e | 107 | offset += (error_f[i] + error_b[n - 1 - i]) / (2.0f * n); |
bwang | 117:97da9eb4300e | 108 | } |
bwang | 119:ad7a6af6fba3 | 109 | offset = fmodf(offset, 2 * PI); |
bwang | 117:97da9eb4300e | 110 | io->pc->printf("Offset: %f\n", offset); |
bwang | 117:97da9eb4300e | 111 | } |