N K / Mbed 2 deprecated priustroller_current

stock mbed AnalogReads current loop closed and working

Dependencies:   mbed

Fork of priustroller_2 by N K

callbacks.cpp@53:ef62d7a958f2, 2015-05-02 (annotated)

Committer:
bwang
Date:
Sat May 02 00:21:00 2015 +0000
Revision:
53:ef62d7a958f2
Parent:
50:16b43e8fe04f
Child:
54:e8d9bc885723
throttle filter

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 24:f1ff9c7256b5 16
bwang 24:f1ff9c7256b5 17 Clarke(-(I_b + I_c), I_b, &alpha, &beta);
bwang 11:dccbaa9274c5 18 Parke(alpha, beta, angle, &d, &q);
bwang 53:ef62d7a958f2 19 dbg_q_raw = q;
bwang 11:dccbaa9274c5 20
nki 34:bfe180de813a 21 dbg_d_filtered = d_filtered = c->filter_q->Update(q); //swapped
nki 34:bfe180de813a 22 dbg_q_filtered = q_filtered = -c->filter_d->Update(d); //these and added a negative on this line.
nki 34:bfe180de813a 23
nki 34:bfe180de813a 24 //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 25 //and that a positive vq command produced a reading of positive d axis torque.
nki 34:bfe180de813a 26 //This may be the final step in aligning the handedness of the reference and the output.
nki 36:11766b5da6ed 27
bwang 53:ef62d7a958f2 28 c->user->UpdateThrottle();
bwang 53:ef62d7a958f2 29 c->user->throttle = c->filter_th->Update(c->user->throttle);
nki 33:e7b132029bae 30 c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q);
bwang 24:f1ff9c7256b5 31
bwang 24:f1ff9c7256b5 32 dbg_ref_d = ref_d;
bwang 24:f1ff9c7256b5 33 dbg_ref_q = ref_q;
bwang 24:f1ff9c7256b5 34 dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered);
bwang 24:f1ff9c7256b5 35 dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered);
bwang 53:ef62d7a958f2 36
bwang 53:ef62d7a958f2 37 dbg_throttle = c->user->throttle;
nki 49:0603121a0538 38
nki 50:16b43e8fe04f 39 if(c->user->throttle <= 0.05f){ //disable inverter - prevent whining, allow for safe precharge.
nki 50:16b43e8fe04f 40 c->inverter->Disable();
nki 50:16b43e8fe04f 41 c->pid_d->ZeroIntegrator();
nki 50:16b43e8fe04f 42 c->pid_q->ZeroIntegrator();
nki 49:0603121a0538 43 }
nki 50:16b43e8fe04f 44 else {
nki 50:16b43e8fe04f 45 c->inverter->Enable();
nki 50:16b43e8fe04f 46 }
nki 49:0603121a0538 47
nki 36:11766b5da6ed 48
nki 36:11766b5da6ed 49 dbg_loop_d = vd;
nki 36:11766b5da6ed 50 dbg_loop_q = vq;
nki 36:11766b5da6ed 51
nki 34:bfe180de813a 52 InverseParke(vd, vq, angle, &valpha, &vbeta);
nki 27:846c08fb3697 53
nki 34:bfe180de813a 54 dbg_valpha = valpha;
nki 34:bfe180de813a 55 dbg_vbeta = vbeta;
bwang 11:dccbaa9274c5 56
bwang 11:dccbaa9274c5 57 c->modulator->Update(valpha, vbeta);
bwang 11:dccbaa9274c5 58 }
bwang 11:dccbaa9274c5 59
bwang 11:dccbaa9274c5 60 void slow(Context *c) {
bwang 53:ef62d7a958f2 61 //c->user->UpdateThrottle();
nki 36:11766b5da6ed 62 //c->user->throttle = c->filter_th->Update(c->user->throttle);
bwang 11:dccbaa9274c5 63 }
bwang 11:dccbaa9274c5 64
bwang 11:dccbaa9274c5 65 void debug(Context *c) {
nki 37:09373294ff22 66 //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 67 //c->serial->printf("%f\n\r", dbg_angle);
nki 49:0603121a0538 68 //c->serial->printf("%f\n\r", c->user->throttle);
nki 50:16b43e8fe04f 69 //c->serial->printf("%f %f\n\r", dbg_ib, dbg_ic);
bwang 24:f1ff9c7256b5 70 }
bwang 24:f1ff9c7256b5 71
bwang 24:f1ff9c7256b5 72 void log(Context *c) {
bwang 53:ef62d7a958f2 73 //c->debugger->Write(0, dbg_ref_q);
bwang 53:ef62d7a958f2 74 //c->debugger->Write(1, dbg_throttle);
bwang 53:ef62d7a958f2 75 //c->debugger->Write(2, dbg_q_filtered);
bwang 53:ef62d7a958f2 76 //c->debugger->Write(3, dbg_loop_q);
bwang 11:dccbaa9274c5 77 }