Bayley Wang / foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Revisions of config_loop.h

Revision Date Message Actions
:0a22dcf91577 2 months ago05/04/2017 12:44 - moved median filter objects to ControlStruct, is_driving() now checks % torque cmd instead of raw throttle value File  Diff  Annotate
:8a1f9888f003 2 months agotemp commit, moving average does not seem to work too well File  Diff  Annotate
:6877dceec871 2 months ago05/04/2017 11:14 - removed w_crazy checks, switched velocity to median filtering File  Diff  Annotate
:08c13bfc7417 2 months agoWIP: new filtering code File  Diff  Annotate
:101b74e4763a 2 months ago05/01/2017 01:21 - driving code, 0.7g, achieved 47mph. Has throttle filtering File  Diff  Annotate
:639cd8586f86 2 months ago04/30/2017 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 File  Diff  Annotate
:0b5edf7ef849 2 months agorestored throttle filtering File  Diff  Annotate
:e70ca81676fc 2 months agoadded voltage delay compensation term File  Diff  Annotate
:53be0630f79d 2 months agoformatting changes File  Diff  Annotate
:57b6f3b1356b 2 months agotransitioning to new velocity code File  Diff  Annotate
:bae8e944f756 3 months agohigher gains for reduced driving performance, but improved bench-testing performance File  Diff  Annotate
:4f322f608280 3 months agoslightly lower gains File  Diff  Annotate
:d100eb7d80ed 3 months agosome table configurations still oscillated, lower gains File  Diff  Annotate
:61b11d8e966e 3 months agoformatting fix File  Diff  Annotate
:1051c4103900 3 months agoadded AngleMapper class, dropped gains because noise caused the loop to oscillate File  Diff  Annotate
:e7e45957f496 3 months agogonna change tables again, these don't seem to track right File  Diff  Annotate
:a9dac72d8cac 3 months ago--PwmIn now checks lower bounds for sanity and fall without rise; --switched to edge aligned pwm to work around prius module propagation delays File  Diff  Annotate
:f58472ac3fae 3 months agoswitch to edge aligned mode for improved performance File  Diff  Annotate
:2ef53b1a22de 3 months agoswitched to using ADC_EOC File  Diff  Annotate
:703780322d5b 3 months agorather shady vector hysteresis implementation, motor now spins very fast File  Diff  Annotate
:c66014e50384 4 months agolowered logging frequency, throttle polling frequency File  Diff  Annotate
:591556ce033d 4 months agothrottle edges acquired during commutation are invalidated; physically impossible throttle readings are invalidated; removed two-step throttle filtering code in lieu of superior methods File  Diff  Annotate
:f10cb573d7ca 4 months agoadded two stage throttle filtering in an attempt to mitigate low speed crunching File  Diff  Annotate
:d44bc3a46942 5 months agoadded ConstantThrottleMapper class for testing File  Diff  Annotate
:5e39beeb4a21 5 months agoadded throttle filtering File  Diff  Annotate
:b4175385d718 5 months agoon gokart 1/28/2017 18:20; vd vq and integrals clamped into ellipses, correct gains, some debug statements in main() File  Diff  Annotate
:f6fd98888e6a 5 months agohigher baudrate, incorrect loop gains, better real-world performance; on gokart 1/28/2017 04:12 File  Diff  Annotate
:581aa9235ad6 5 months agoupped serial baud rate, "correct" loop gains (which result in reduced real-world performance) File  Diff  Annotate
:22338b6c7a6e 5 months agoreverted loop gains File  Diff  Annotate
:7316c5a4c417 5 months agonew gains, different d and q gains File  Diff  Annotate
:fe85b52e223d 5 months agofixed loop gain scaling issue File  Diff  Annotate
:c681001dfa46 5 months agoadded (ineffective) LimitingThrottleMapper, updated throttle ranges to get 100% instead of 85% File  Diff  Annotate
:fd3d8df99287 5 months agoadded integral decay and intent-of-driving check File  Diff  Annotate
:3fd6a43b91f0 6 months agotemp commit File  Diff  Annotate
:80b38a8e1787 7 months agolastest updates; loads of stubs for broken FW and optimization functions File  Diff  Annotate
:5e18a87a0e95 8 months agoworking velocity code, with caveats; fixed 50A iq File  Diff  Annotate
:72840d3db788 8 months agoautocalculate TIMx_ARR and loop gains based on switching frequency File  Diff  Annotate
:b583cd30b063 8 months agosplit config.h into three config headers File  Diff  Annotate