N K / Mbed 2 deprecated GaNtroller

a fork of priustroller

Dependencies:   mbed

Fork of priustroller_current by N K

callbacks.cpp@55:f102d271e808, 2015-05-21 (annotated)

Committer:
nki
Date:
Thu May 21 02:19:25 2015 +0000
Revision:
55:f102d271e808
Parent:
54:e8d9bc885723 
still testing;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 11:dccbaa9274c5 1 #include "includes.h"
bwang 11:dccbaa9274c5 2 #include "transforms.h"
bwang 11:dccbaa9274c5 3 #include "filters.h"
bwang 11:dccbaa9274c5 4 #include "context.h"
bwang 11:dccbaa9274c5 5 #include "core.h"
bwang 11:dccbaa9274c5 6 #include "meta.h"
bwang 11:dccbaa9274c5 7 #include "sensors.h"
bwang 24:f1ff9c7256b5 8 #include "debug.h"
bwang 11:dccbaa9274c5 9
bwang 11:dccbaa9274c5 10 void fast(Context *c) {
bwang 11:dccbaa9274c5 11 float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta;
nki 21:da41c08e51bc 12 float I_b, I_c, angle, d_filtered, q_filtered, vd, vq;
bwang 24:f1ff9c7256b5 13 dbg_ib = I_b = c->motor->GetCurrentB();
bwang 24:f1ff9c7256b5 14 dbg_ic = I_c = c->motor->GetCurrentC();
bwang 24:f1ff9c7256b5 15 dbg_angle = angle = c->motor->GetPosition();
bwang 54:e8d9bc885723 16 float speed_raw = c->motor->GetSpeed();
bwang 54:e8d9bc885723 17 dbg_speed = c->filter_sp->Update(speed_raw);
bwang 24:f1ff9c7256b5 18
bwang 24:f1ff9c7256b5 19 Clarke(-(I_b + I_c), I_b, &alpha, &beta);
bwang 11:dccbaa9274c5 20 Parke(alpha, beta, angle, &d, &q);
bwang 53:ef62d7a958f2 21 dbg_q_raw = q;
bwang 54:e8d9bc885723 22 dbg_d_raw = d;
bwang 11:dccbaa9274c5 23
nki 34:bfe180de813a 24 dbg_d_filtered = d_filtered = c->filter_q->Update(q); //swapped
nki 34:bfe180de813a 25 dbg_q_filtered = q_filtered = -c->filter_d->Update(d); //these and added a negative on this line.
nki 34:bfe180de813a 26
nki 34:bfe180de813a 27 //The necessary changes were analytically determined by observing that a postive vd command corresponded to a reading of negative q axis torque
nki 34:bfe180de813a 28 //and that a positive vq command produced a reading of positive d axis torque.
nki 34:bfe180de813a 29 //This may be the final step in aligning the handedness of the reference and the output.
nki 36:11766b5da6ed 30
bwang 53:ef62d7a958f2 31 c->user->UpdateThrottle();
bwang 53:ef62d7a958f2 32 c->user->throttle = c->filter_th->Update(c->user->throttle);
nki 33:e7b132029bae 33 c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q);
bwang 24:f1ff9c7256b5 34
bwang 24:f1ff9c7256b5 35 dbg_ref_d = ref_d;
bwang 24:f1ff9c7256b5 36 dbg_ref_q = ref_q;
bwang 24:f1ff9c7256b5 37 dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered);
bwang 24:f1ff9c7256b5 38 dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered);
bwang 53:ef62d7a958f2 39
bwang 53:ef62d7a958f2 40 dbg_throttle = c->user->throttle;
nki 49:0603121a0538 41
nki 50:16b43e8fe04f 42 if(c->user->throttle <= 0.05f){ //disable inverter - prevent whining, allow for safe precharge.
nki 50:16b43e8fe04f 43 c->inverter->Disable();
nki 50:16b43e8fe04f 44 c->pid_d->ZeroIntegrator();
nki 50:16b43e8fe04f 45 c->pid_q->ZeroIntegrator();
nki 49:0603121a0538 46 }
nki 50:16b43e8fe04f 47 else {
nki 50:16b43e8fe04f 48 c->inverter->Enable();
nki 50:16b43e8fe04f 49 }
nki 49:0603121a0538 50
nki 36:11766b5da6ed 51
nki 36:11766b5da6ed 52 dbg_loop_d = vd;
nki 36:11766b5da6ed 53 dbg_loop_q = vq;
nki 36:11766b5da6ed 54
nki 34:bfe180de813a 55 InverseParke(vd, vq, angle, &valpha, &vbeta);
nki 27:846c08fb3697 56
nki 34:bfe180de813a 57 dbg_valpha = valpha;
nki 34:bfe180de813a 58 dbg_vbeta = vbeta;
bwang 11:dccbaa9274c5 59
bwang 11:dccbaa9274c5 60 c->modulator->Update(valpha, vbeta);
bwang 11:dccbaa9274c5 61 }
bwang 11:dccbaa9274c5 62
bwang 11:dccbaa9274c5 63 void slow(Context *c) {
bwang 53:ef62d7a958f2 64 //c->user->UpdateThrottle();
nki 36:11766b5da6ed 65 //c->user->throttle = c->filter_th->Update(c->user->throttle);
bwang 11:dccbaa9274c5 66 }
bwang 11:dccbaa9274c5 67
bwang 11:dccbaa9274c5 68 void debug(Context *c) {
nki 37:09373294ff22 69 //c->serial->printf("%f %f %f %f %f %f\n\r", dbg_d_filtered, dbg_q_filtered, dbg_ref_d, dbg_ref_q, dbg_loop_d, dbg_loop_q);
nki 36:11766b5da6ed 70 //c->serial->printf("%f\n\r", dbg_angle);
nki 49:0603121a0538 71 //c->serial->printf("%f\n\r", c->user->throttle);
nki 50:16b43e8fe04f 72 //c->serial->printf("%f %f\n\r", dbg_ib, dbg_ic);
bwang 24:f1ff9c7256b5 73 }
bwang 24:f1ff9c7256b5 74
bwang 24:f1ff9c7256b5 75 void log(Context *c) {
bwang 54:e8d9bc885723 76 //c->debugger->Write(0, dbg_speed);
bwang 54:e8d9bc885723 77 //c->debugger->Write(1, dbg_q_filtered);
nki 55:f102d271e808 78 //c->debugger->Write(2, dbg_d_filtered);
nki 55:f102d271e808 79 //c->debugger->Write(3, dbg_angle);
bwang 11:dccbaa9274c5 80 }