Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Revisions of main.cpp

Revision Date Message Actions
158:882f9c208378 2017-05-07 typo fix File  Diff  Annotate
157:a9b2002994d5 2017-05-07 05/07/2017 12:46 - added overmodulation option to config_loop File  Diff  Annotate
154:0a22dcf91577 2017-05-04 05/04/2017 12:44 - moved median filter objects to ControlStruct, is_driving() now checks % torque cmd instead of raw throttle value File  Diff  Annotate
153:8a1f9888f003 2017-05-04 temp commit, moving average does not seem to work too well File  Diff  Annotate
152:6877dceec871 2017-05-04 05/04/2017 11:14 - removed w_crazy checks, switched velocity to median filtering File  Diff  Annotate
150:08c13bfc7417 2017-05-04 WIP: new filtering code File  Diff  Annotate
143:a7a0c9d70e8a 2017-05-02 05/02/2017 06:54 - fast logging is now back to logging vd, vq instead of decoupling terms File  Diff  Annotate
133:a5417cabea47 2017-05-01 05/01/2017 03:12 - tweaked throttle bounds for lower (56k) pulldown; relaxed THROTLE_CRAZY parameters a bit File  Diff  Annotate
132:101b74e4763a 2017-05-01 05/01/2017 01:21 - driving code, 0.7g, achieved 47mph. Has throttle filtering File  Diff  Annotate
131:031df63c7dbc 2017-05-01 decoupling File  Diff  Annotate
130:639cd8586f86 2017-04-30 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 File  Diff  Annotate
126:498f56ba051e 2017-04-30 format change, since it is hard to measure actual inverter delay File  Diff  Annotate
124:e70ca81676fc 2017-04-30 added voltage delay compensation term File  Diff  Annotate
123:d81d91c9abe8 2017-04-28 added compensation for speed-dependent phase offset File  Diff  Annotate
122:53be0630f79d 2017-04-26 formatting changes File  Diff  Annotate
121:de10418bf2c2 2017-04-25 working calibration (plot output first!), new offset, new mechanical position code File  Diff  Annotate
120:57b6f3b1356b 2017-04-25 transitioning to new velocity code File  Diff  Annotate
119:ad7a6af6fba3 2017-04-25 running code, new phase (5.7614) working sensor calibration code, some new PositionSensor functions File  Diff  Annotate
118:2b6dab10b69d 2017-04-24 position sensor calibration does things, but are they right? File  Diff  Annotate
115:6c1bce07768d 2017-04-23 integral_d and q are now constrained in a circle, not an ellipse File  Diff  Annotate
114:095a77fcf53b 2017-04-23 added decoupling, finally corrected hardcoded motor parameters File  Diff  Annotate
108:ac6db1b94b59 2017-04-14 formatting changes File  Diff  Annotate
102:1cd38f88393c 2017-04-12 running firmware File  Diff  Annotate
101:4f322f608280 2017-04-11 slightly lower gains File  Diff  Annotate
100:d100eb7d80ed 2017-04-11 some table configurations still oscillated, lower gains File  Diff  Annotate
98:1051c4103900 2017-04-11 added AngleMapper class, dropped gains because noise caused the loop to oscillate File  Diff  Annotate
93:e7e45957f496 2017-04-07 gonna change tables again, these don't seem to track right File  Diff  Annotate
92:a9dac72d8cac 2017-04-06 --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
91:f58472ac3fae 2017-04-05 switch to edge aligned mode for improved performance File  Diff  Annotate
90:2ef53b1a22de 2017-04-04 switched to using ADC_EOC File  Diff  Annotate
89:9e00a3c0c7ad 2017-03-28 vd,vq constrained in a circle, not an ellipse File  Diff  Annotate
88:703780322d5b 2017-03-28 rather shady vector hysteresis implementation, motor now spins very fast File  Diff  Annotate
87:eb5e918a6930 2017-03-25 the code does things, but are they right? File  Diff  Annotate
86:b059f637e9ac 2017-03-12 renamed some stuff File  Diff  Annotate
84:dd32640942a4 2017-03-12 better error handling started File  Diff  Annotate
83:eb3704d4943f 2017-03-11 more structural changes File  Diff  Annotate
82:5e741c5ffd9f 2017-03-10 things somewhat work? File  Diff  Annotate
77:66a9b53131f8 2017-02-25 throttle blocking code out for now, there seems to be a state where the throttle continuously blocks for seconds at a time... File  Diff  Annotate
76:c66014e50384 2017-02-24 lowered logging frequency, throttle polling frequency File  Diff  Annotate
75:591556ce033d 2017-02-24 throttle 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
74:f10cb573d7ca 2017-02-24 added two stage throttle filtering in an attempt to mitigate low speed crunching File  Diff  Annotate
73:d44bc3a46942 2017-02-20 added ConstantThrottleMapper class for testing File  Diff  Annotate
72:5f1da97d62e1 2017-02-05 added config_logging.h File  Diff  Annotate
71:292dfc44ca53 2017-02-05 throttle filtering (0.9) + debug statements File  Diff  Annotate
70:5e39beeb4a21 2017-02-05 added throttle filtering File  Diff  Annotate
68:f69a4f5bc93e 2017-02-05 lower inductance tables result in extremely poor performance, poor spindown times, and oscillations File  Diff  Annotate
65:6e1fdbfae57b 2017-01-29 removed spurious comments, performance is mediocre (29Nm) File  Diff  Annotate
64:b4175385d718 2017-01-28 on gokart 1/28/2017 18:20; vd vq and integrals clamped into ellipses, correct gains, some debug statements in main() File  Diff  Annotate
63:f6fd98888e6a 2017-01-28 higher baudrate, incorrect loop gains, better real-world performance; on gokart 1/28/2017 04:12 File  Diff  Annotate
62:581aa9235ad6 2017-01-28 upped serial baud rate, "correct" loop gains (which result in reduced real-world performance) File  Diff  Annotate
61:85a31897e719 2017-01-28 work in progress File  Diff  Annotate
59:0416da6c3060 2017-01-28 minor changes File  Diff  Annotate
58:7316c5a4c417 2017-01-28 new gains, different d and q gains File  Diff  Annotate
56:c681001dfa46 2017-01-25 added (ineffective) LimitingThrottleMapper, updated throttle ranges to get 100% instead of 85% File  Diff  Annotate
55:3568b78dc203 2017-01-25 added W_SAFE parameter File  Diff  Annotate
54:25db122c05f0 2017-01-25 no printf's File  Diff  Annotate
53:b7f824360fe3 2017-01-25 error logic fixes File  Diff  Annotate
52:fd3d8df99287 2017-01-25 added integral decay and intent-of-driving check File  Diff  Annotate
51:8b817927d6e4 2017-01-22 removed debugging printf File  Diff  Annotate
50:f508c7860342 2017-01-22 excellent performance File  Diff  Annotate