Bayley Wang / foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

CHANGELOG.txt

Committer:
bwang
Date:
3 weeks ago
Revision:
155:7c6005933d4c
Parent:
154:0a22dcf91577
Child:
156:cf92f967983d

File content as of revision 155:7c6005933d4c:

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