Bayley Wang / Mbed 2 deprecated priustroller

Prius IPM controller

Dependencies:   mbed

Fork of analoghalls5_5 by N K

sensors/sensors.h@35:83cf9564bd0c, 2015-03-16 (annotated)

Committer:
bwang
Date:
Mon Mar 16 15:40:07 2015 +0000
Revision:
35:83cf9564bd0c
Parent:
33:e7b132029bae 
Set for 3A Iq, 0A Id, Ki = 1e-3, Kp = Kd = 0, loop still oscillates but is passable

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 1:1f58bdcf2956 1 #ifndef __SENSORS_H
bwang 1:1f58bdcf2956 2 #define __SENSORS_H
bwang 1:1f58bdcf2956 3
bwang 1:1f58bdcf2956 4 #include "includes.h"
bwang 1:1f58bdcf2956 5
nki 33:e7b132029bae 6 class CurrentSensor {
bwang 28:af9d43bcb371 7 public:
nki 33:e7b132029bae 8 virtual float GetCurrent() {return 0.0f;}
nki 33:e7b132029bae 9 virtual void Zero() {}
bwang 1:1f58bdcf2956 10 };
bwang 1:1f58bdcf2956 11
bwang 1:1f58bdcf2956 12 class VoltageSensor {
bwang 1:1f58bdcf2956 13 public:
bwang 1:1f58bdcf2956 14 virtual float GetVoltage() {return 0.0f;}
bwang 1:1f58bdcf2956 15 virtual void Zero(){}
bwang 1:1f58bdcf2956 16 };
bwang 1:1f58bdcf2956 17
bwang 1:1f58bdcf2956 18 class PositionSensor {
bwang 1:1f58bdcf2956 19 public:
bwang 1:1f58bdcf2956 20 virtual float GetPosition() {return 0.0f;}
bwang 1:1f58bdcf2956 21 };
bwang 1:1f58bdcf2956 22
bwang 1:1f58bdcf2956 23 class TempSensor {
bwang 1:1f58bdcf2956 24 public:
bwang 1:1f58bdcf2956 25 virtual float GetTemp() {return 0.0f;}
bwang 1:1f58bdcf2956 26 };
bwang 1:1f58bdcf2956 27
nki 33:e7b132029bae 28 class AnalogCurrentSensor: public CurrentSensor {
nki 33:e7b132029bae 29 public:
nki 33:e7b132029bae 30 AnalogCurrentSensor(PinName pin, float volts_per_amp);
nki 33:e7b132029bae 31 virtual void Zero();
nki 33:e7b132029bae 32 virtual float GetCurrent();
nki 33:e7b132029bae 33 private:
nki 33:e7b132029bae 34 float _zero_level, _volts_per_amp;
nki 33:e7b132029bae 35 AnalogIn *_in;
nki 33:e7b132029bae 36 };
nki 33:e7b132029bae 37
bwang 1:1f58bdcf2956 38 class AnalogVoltageSensor: public VoltageSensor {
bwang 1:1f58bdcf2956 39 public:
bwang 1:1f58bdcf2956 40 AnalogVoltageSensor(PinName pin, float scale);
bwang 1:1f58bdcf2956 41 virtual void Zero();
bwang 1:1f58bdcf2956 42 virtual float GetVoltage();
bwang 1:1f58bdcf2956 43 private:
bwang 1:1f58bdcf2956 44 float _zero_level, _scale;
nki 33:e7b132029bae 45 AnalogIn *_in;
bwang 1:1f58bdcf2956 46 };
bwang 1:1f58bdcf2956 47
bwang 1:1f58bdcf2956 48 class AnalogHallPositionSensor: public PositionSensor {
bwang 1:1f58bdcf2956 49 public:
bwang 1:1f58bdcf2956 50 AnalogHallPositionSensor(PinName pin_a, PinName pin_b, float cal1_a, float cal2_a,
bwang 1:1f58bdcf2956 51 float cal1_b, float cal2_b, float offset);
bwang 1:1f58bdcf2956 52 virtual float GetPosition();
bwang 1:1f58bdcf2956 53 private:
bwang 1:1f58bdcf2956 54 float _cal1_a, _cal2_a;
bwang 1:1f58bdcf2956 55 float _cal1_b, _cal2_b;
bwang 1:1f58bdcf2956 56 float _offset;
nki 33:e7b132029bae 57 AnalogIn *_in_a, *_in_b;
bwang 1:1f58bdcf2956 58 };
bwang 1:1f58bdcf2956 59
bwang 1:1f58bdcf2956 60 class NtcTempSensor: public TempSensor {
bwang 1:1f58bdcf2956 61 public:
bwang 1:1f58bdcf2956 62 NtcTempSensor(PinName pin, float r_25, float ntc_b, float r_divider);
bwang 1:1f58bdcf2956 63 virtual float GetTemp();
bwang 1:1f58bdcf2956 64 private:
bwang 1:1f58bdcf2956 65 float _ntc_a, _ntc_b, _r_divider;
nki 33:e7b132029bae 66 AnalogIn *_in;
bwang 1:1f58bdcf2956 67 };
bwang 1:1f58bdcf2956 68
bwang 1:1f58bdcf2956 69 class Throttle {
bwang 1:1f58bdcf2956 70 public:
bwang 1:1f58bdcf2956 71 Throttle(PinName pin, float min, float max);
bwang 1:1f58bdcf2956 72 float GetThrottle();
bwang 1:1f58bdcf2956 73 private:
bwang 1:1f58bdcf2956 74 float _min, _max;
bwang 1:1f58bdcf2956 75 VoltageSensor *_in;
bwang 1:1f58bdcf2956 76 };
bwang 1:1f58bdcf2956 77
bwang 1:1f58bdcf2956 78 #endif