Bayley Wang / foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Changes

RevisionDateWhoCommit message
87:eb5e918a6930 13 hours agobwangthe code does things, but are they right? default tip
86:b059f637e9ac 13 days agobwangrenamed some stuff
85:2280526f9bad 13 days agobwangbetter error handling, continued
84:dd32640942a4 13 days agobwangbetter error handling started
83:eb3704d4943f 2 weeks agobwangmore structural changes
82:5e741c5ffd9f 2 weeks agobwangthings somewhat work?
81:4f8d87862651 3 weeks agobwangremoved flashwriter classes pending further testing, code should compile again
80:64732542010a 3 weeks agobwanguntil further noted, subsequent commits may not compile
79:d0b1bb3dcf68 3 weeks agobwangadded FlashWriter class
78:b8df106126a7 4 weeks agobwangadded THROTTLE_CRAZY parameter for error checking
77:66a9b53131f8 4 weeks agobwangthrottle blocking code out for now, there seems to be a state where the throttle continuously blocks for seconds at a time...
76:c66014e50384 4 weeks agobwanglowered logging frequency, throttle polling frequency
75:591556ce033d 4 weeks agobwangthrottle edges acquired during commutation are invalidated; physically impossible throttle readings are invalidated; removed two-step throttle filtering code in lieu of superior methods
74:f10cb573d7ca 4 weeks agobwangadded two stage throttle filtering in an attempt to mitigate low speed crunching
73:d44bc3a46942 4 weeks agobwangadded ConstantThrottleMapper class for testing
72:5f1da97d62e1 6 weeks agobwangadded config_logging.h
71:292dfc44ca53 6 weeks agobwangthrottle filtering (0.9) + debug statements
70:5e39beeb4a21 6 weeks agobwangadded throttle filtering
69:2d68b95b2afe 6 weeks agobwanganother commit is needed? (overwrites previous one)
68:f69a4f5bc93e 6 weeks agobwanglower inductance tables result in extremely poor performance, poor spindown times, and oscillations
67:753f013d35a1 7 weeks agobwangsomehow the tables were not uploaded in the last commit?
66:f0c098f104f0 7 weeks agobwangnew tables, lower inductance
65:6e1fdbfae57b 7 weeks agobwangremoved spurious comments, performance is mediocre (29Nm)
64:b4175385d718 7 weeks agobwangon gokart 1/28/2017 18:20; vd vq and integrals clamped into ellipses, correct gains, some debug statements in main()
63:f6fd98888e6a 8 weeks agobwanghigher baudrate, incorrect loop gains, better real-world performance; on gokart 1/28/2017 04:12
62:581aa9235ad6 8 weeks agobwangupped serial baud rate, "correct" loop gains (which result in reduced real-world performance)
61:85a31897e719 8 weeks agobwangwork in progress
60:22338b6c7a6e 8 weeks agobwangreverted loop gains
59:0416da6c3060 8 weeks agobwangminor changes
58:7316c5a4c417 8 weeks agobwangnew gains, different d and q gains
57:fe85b52e223d 8 weeks agobwangfixed loop gain scaling issue
56:c681001dfa46 8 weeks agobwangadded (ineffective) LimitingThrottleMapper, updated throttle ranges to get 100% instead of 85%
55:3568b78dc203 8 weeks agobwangadded W_SAFE parameter
54:25db122c05f0 8 weeks agobwangno printf's
53:b7f824360fe3 8 weeks agobwangerror logic fixes
52:fd3d8df99287 8 weeks agobwangadded integral decay and intent-of-driving check
51:8b817927d6e4 2 months agobwangremoved debugging printf
50:f508c7860342 2 months agobwangexcellent performance
49:da8604278d76 2 months agobwangnon-saturating tables
48:a1a09c83d42c 2 months agobwangbugfixes on table code (zero throttle is now zero torque, fixed a sign error going in reverse); current table has some made-up saturation curves taken into account
47:1c9868e226d0 2 months agobwangfixed order of operations bug
46:748aba7d111d 2 months agobwangstartup message
45:cf8ad81fb0f0 2 months agobwangthis revision uses the naive (no FW) d/q code and a linear throttle map
44:3fd6a43b91f0 2 months agobwangtemp commit
43:bb4e3b2c08bb 2 months agobwangremoved Driving/*
42:030e0ec4eac5 2 months agobwangstructural changes; reference and throttle maps now classes, global variables moved to structs, system config functions moved to BREMS/*
41:896ac1c046fd 2 months agobwangLUT code checked off, errors fixed
40:22aede3d096f 3 months agobwangswitching to table based optimization
39:80b38a8e1787 3 months agobwanglastest updates; loads of stubs for broken FW and optimization functions
38:07cb4ae6c1bd 3 months agobwangadded fast atan code to MathHelpers
37:ba7ebf4f8a78 3 months agobwangupdated get_mtpa_dq to be always give the correct ratio of id to iq; NOT TESTED: switched get_dq to use the get_mtpa* functions as altermotter requires huge amounts of d-axis amps
36:cac9785c91cb 3 months agobwangworking gokart, stubs for maximum torque per amp based on torque, converting to mpta based on total phase current
35:89385f64c867 4 months agobwangfixed scaling in decoupling code
34:454a4256c4fe 4 months agobwangadditional algorithmic changes
33:93a0d621a095 4 months agobwangadditional algorithmic changes
32:b31423041c4e 4 months agobwangreal values for Ld, Lq (altermotter)
31:ebe42589ab9d 4 months agobwangadded IPM optimization code, commented out decoupling
30:c25c5bf0d951 4 months agobwangadded decoupling; set Ld, Lq to nonzero to enable
29:50e6e4e46580 4 months agobwangupdated headers, variable defs to make more sense
28:ed9c1ca386fd 4 months agobwangcheck for encoder index before applying current