Diff: main.cpp

Revision:

40:22aede3d096f

Parent:

39:80b38a8e1787

Child:

42:030e0ec4eac5

--- a/main.cpp	Sat Dec 03 17:49:02 2016 +0000
+++ b/main.cpp	Mon Dec 12 14:18:02 2016 +0000
@@ -6,7 +6,7 @@
 #include "PwmIn.h"
 #include "MathHelpers.h"
 #include "Driving.h"
-#include "Optimize.h"
+#include "LutOptimize.h"
 
 #include "config_motor.h"
 #include "config_loop.h"
@@ -77,39 +77,25 @@
     if (dp_mech < -PI) dp_mech += 2 * PI;
     if (dp_mech >  PI) dp_mech -= 2 * PI;
     float w_raw = dp_mech * F_SW; //rad/s
-    if (w_raw > W_LIMIT) w_raw = w; //with this limiting scheme noise < 0
-    if (w_raw < -W_LIMIT) w_raw = w; //so we need to throw out the large deltas first
+    if (w_raw > W_CRAZY) w_raw = w; //with this limiting scheme noise < 0
+    if (w_raw < -W_CRAZY) w_raw = w; //so we need to throw out the large deltas first
     w = W_FILTER_STRENGTH * w + (1.0f - W_FILTER_STRENGTH) * w_raw;
 }
 
-float get_torque_cmd(float throttle, float w) {
+/*map throttle to percent max torque*/
+float get_tqpct_cmd(float throttle, float w) {
     float tq;
     if (TORQUE_MODE) {
-        tq =  throttle * FORWARD_TORQUE_MAX;
+        tq = throttle;
     } else {
-        tq =  get_driving_torque_cmd(throttle, w);
+        tq = get_driving_tqpct_cmd(throttle, w);
     }
     return tq;
 }
 
-//fill in d, q ref based on torque cmd and current velocity
-void get_dq(float torque, float w, float *d, float *q) { 
-    float tqabs = fabsf(torque);
-    
-    /*get voltage limits and estimate current voltage*/
-    float vs_max2 = (BUS_VOLTAGE * MODULATION_INDEX / 2.0f) * (BUS_VOLTAGE * MODULATION_INDEX / 2.0f);
-    float vs2 = get_vs2(w, d_filtered, q_filtered);
-    
-    if (vs2 < vs_max2) {
-        get_mtpa_dq(tqabs, d, q);
-    } else {
-        get_mtpf_dq(tqabs, w, vs_max2, d, q);
-    }
-    
-    if (torque < 0.0f) {
-        *d = -*d;
-        *q = -*q;
-    }
+/*get d, q based on % max torque command and velocity*/
+void get_dq(float torque_percent, float w, float *d, float *q) {
+    get_dq_lut(torque_percent, w, d, q); 
 }
 
 void commutate() {
@@ -123,7 +109,7 @@
     float sin_p = sinf(p);
     float cos_p = cosf(p);
     
-    float torque = get_torque_cmd(throttle_in.get_throttle(), w);
+    float torque_percent = get_tqpct_cmd(throttle_in.get_throttle(), w);
     
     ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE;
     ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE;
@@ -137,7 +123,7 @@
     d_filtered = DQ_FILTER_STRENGTH * d_filtered + (1.0f - DQ_FILTER_STRENGTH) * d;
     q_filtered = DQ_FILTER_STRENGTH * q_filtered + (1.0f - DQ_FILTER_STRENGTH) * q;
     
-    get_dq(torque, w, &d_ref, &q_ref);
+    get_dq(torque_percent, w, &d_ref, &q_ref);
     
     float d_err = d_ref - d_filtered;
     float q_err = q_ref - q_filtered;