robot

Dependencies:   FastPWM3 mbed

Committer:
bwang
Date:
Thu May 04 21:16:51 2017 +0000
Revision:
156:cf92f967983d
Parent:
155:7c6005933d4c
Child:
157:a9b2002994d5
05/04/2017 17:16 - encoder class now sets TIM->ARR to CPR - 1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 130:639cd8586f86 1 04/30/2017 02:45 - added CHANGELOG.txt
bwang 131:031df63c7dbc 2 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
bwang 132:101b74e4763a 3 05/01/2017 00:04 - added some decoupling terms, which may or may not work.
bwang 135:63ef59eb7f2a 4 05/01/2017 01:21 - driving code, 0.7g, achieved 40mph. Has throttle filtering
bwang 136:607bdeb17e2f 5 05/01/2017 03:17 - changed throttle limits to match 56k pulldown; relaxed THROTTLE_CRAZY bounds a bit
bwang 137:54c47ef47bbb 6 05/01/2017 06:40 - more tweaks to throttle limits
bwang 139:d5ef8d1936f8 7 05/01/2017 07:21 - rising edge from disabled state now resets usec count in PwmIn
bwang 140:170411d158b5 8 05/01/2017 07:58 - W_CRAZY limit bumped up, never an issue on the road but may behave strangely on the bench
bwang 142:0e0a164feb4c 9 05/01/2017 08:13 - enabled->disabled now resets usec count in PwmIn
bwang 143:a7a0c9d70e8a 10 05/01/2017 09:00 - bumped up THROTTLE_LOW from 1020 to 1050
bwang 144:a9e7fa1c98d7 11 05/02/2017 06:54 - fast logging is now back to logging vd, vq instead of decoupling terms
bwang 145:37ffa3ba3862 12 05/03/2017 08:24 - added circular buffer code
bwang 146:296bcc30e65d 13 05/03/2017 08:27 - CircularBuffer moved to its own .cpp file
bwang 147:c1b2379b8874 14 05/03/2017 08:36 - added median and moving average filters
bwang 148:9bca96f7be5c 15 05/03/2017 09:26 - added use_median option to circular buffers (since average filters may not want to recalculate the median every sample)
bwang 149:c51c0258c923 16 05/03/2017 09:39 - indexing bugfix in median code
bwang 151:5bbb15351798 17 05/04/2017 08:53 - added fast path for median-of-3
bwang 152:6877dceec871 18 05/04/2017 10:33 - removed throttle_crazy checks as these lead to dangerous behavior; beginnings of new filter code in main.cpp
bwang 154:0a22dcf91577 19 05/04/2017 11:14 - removed w_crazy checks, switched velocity to median filtering
bwang 155:7c6005933d4c 20 05/04/2017 12:44 - moved median filter objects to ControlStruct, is_driving() now checks % torque cmd instead of raw throttle value
bwang 156:cf92f967983d 21 05/04/2017 13:34 - changed logic in PwmIn::handle_fall, which no longer resets timer on invalid edges
bwang 156:cf92f967983d 22 05/04/2017 17:16 - encoder class now sets TIM->ARR to CPR - 1