Diff: main.cpp

Revision:

9:d3b70c15baa9

Parent:

6:99ee0ce47fb2

Child:

10:b4abecccec7a

--- a/main.cpp	Wed Mar 04 15:33:32 2015 +0000
+++ b/main.cpp	Fri Mar 06 19:12:53 2015 +0000
@@ -7,6 +7,8 @@
 float test_alpha = 0;
 float test_beta = 0;
 
+float d_mean = 0;
+float q_mean = 0;
 
 float test_DtcA;
 float test_DtcB;
@@ -16,7 +18,7 @@
     pc->baud(115200);
     pc->printf("%s\n\r", "Init Serial Comm");
     
-    PositionSensor *sense_p = new AnalogHallPositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 200.0f);
+    PositionSensor *sense_p = new AnalogHallPositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f);
     CurrentSensor *sense_ic = new AnalogCurrentSensor(A1, 0.01);
     CurrentSensor *sense_ib = new AnalogCurrentSensor(A2, 0.01);
     VoltageSensor *sense_bus = new AnalogVoltageSensor(A5, 0.01);
@@ -24,8 +26,8 @@
     TempSensor *sense_t_inverter = new TempSensor();
     Throttle *throttle = new Throttle(A0, 0.5f, 3.0f);
     
-    PidController *pid_d = new PidController(0.1f, 0.0f, 0.0f, 1.0f, 0.0f);
-    PidController *pid_q = new PidController (0.1f, 0.0f, 0.0f, 1.0f, 0.0f);
+    PidController *pid_d = new PidController(0.0001f, 0.0f, 0.0f, 5.0f, -5.0f);
+    PidController *pid_q = new PidController (0.0001f, 0.0f, 0.0f, 5.0f, -5.0f);
     
     Motor *motor = new Motor(sense_ic, sense_ib, sense_p, sense_t_motor);
     Inverter *inverter = new Inverter(D6, D13, D3, D8, sense_bus, sense_t_inverter);
@@ -35,7 +37,7 @@
     LoopDriver *driver = new LoopDriver(inverter, motor, user, pid_d, pid_q, modulator, 1.0f, 5000);
     
     motor->Config(4, 20.0f);
-    updater->Config(5000, 10);
+    updater->Config(5000, 100, 10);
          
     driver->Start();
     updater->Start();