Bayley Wang / Mbed 2 deprecated priustroller

Prius IPM controller

Dependencies:   mbed

Fork of analoghalls5_5 by N K

main.cpp@4:fdadf4a3577a, 2015-03-02 (annotated)

Committer:
nki
Date:
Mon Mar 02 11:17:15 2015 +0000
Revision:
4:fdadf4a3577a
Parent:
3:0a2396597e0d
Child:
5:ee1e6c84c302
motor spins;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 0:54cf32d35f4d 1 #include "includes.h"
bwang 1:1f58bdcf2956 2 #include "core.h"
bwang 1:1f58bdcf2956 3 #include "sensors.h"
bwang 1:1f58bdcf2956 4 #include "meta.h"
bwang 0:54cf32d35f4d 5
nki 4:fdadf4a3577a 6 Serial *pc = new Serial(SERIAL_TX, SERIAL_RX);
nki 4:fdadf4a3577a 7
bwang 0:54cf32d35f4d 8 int main() {
nki 4:fdadf4a3577a 9 pc->baud(115200);
bwang 0:54cf32d35f4d 10 PositionSensor *sense_p = new AnalogHallPositionSensor(A4, A5, 0.256f, 0.484f, 0.254f, 0.474f, 205.0f);
bwang 0:54cf32d35f4d 11 CurrentSensor *sense_ia = new AnalogCurrentSensor(A1, 0.01);
bwang 0:54cf32d35f4d 12 CurrentSensor *sense_ib = new AnalogCurrentSensor(A2, 0.01);
bwang 0:54cf32d35f4d 13 VoltageSensor *sense_bus = new AnalogVoltageSensor(A5, 0.01);
bwang 0:54cf32d35f4d 14 TempSensor *sense_t_motor = new TempSensor();
bwang 0:54cf32d35f4d 15 TempSensor *sense_t_inverter = new TempSensor();
bwang 0:54cf32d35f4d 16 Throttle *throttle = new Throttle(A0, 0.5f, 3.0f);
bwang 0:54cf32d35f4d 17
bwang 3:0a2396597e0d 18 PidController *pid_d = new PidController(1.0f, 0.0f, 0.0f, 0.0f, 1.0f);
bwang 3:0a2396597e0d 19 PidController *pid_q = new PidController (1.0f, 0.0f, 0.0f, 0.0f, 1.0f);
bwang 3:0a2396597e0d 20
bwang 0:54cf32d35f4d 21 Motor *motor = new Motor(sense_ia, sense_ib, sense_p, sense_t_motor);
bwang 0:54cf32d35f4d 22 Inverter *inverter = new Inverter(D6, D13, D3, D8, sense_bus, sense_t_inverter);
bwang 0:54cf32d35f4d 23 User *user = new User(throttle);
bwang 3:0a2396597e0d 24 Modulator *modulator = new SinusoidalModulator(inverter);
bwang 3:0a2396597e0d 25 StatusUpdater *updater = new StatusUpdater(inverter, motor, user);
bwang 3:0a2396597e0d 26 LoopDriver *driver = new LoopDriver(inverter, motor, user, pid_d, pid_q, modulator, 100.0f, 5000);
bwang 0:54cf32d35f4d 27
bwang 0:54cf32d35f4d 28 motor->Config(4, 20.0f);
bwang 3:0a2396597e0d 29 updater->Config(5000, 10);
nki 4:fdadf4a3577a 30
bwang 3:0a2396597e0d 31 driver->Start();
bwang 3:0a2396597e0d 32 updater->Start();
bwang 0:54cf32d35f4d 33 }