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fix opamp instance

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fix voltage scale in utils.cpp
fix switch case for pins in _readADCVoltageInline

added commented out lines for my motor config, changed PID values, added global monitor variables near loop
This commit is contained in:
copper280z
2023-11-15 08:52:30 -05:00
parent 37d5e4b64c
commit fef9087a00
4 changed files with 45 additions and 23 deletions
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36
firmware/src/main.cpp
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@@ -61,9 +61,12 @@ STM32HWEncoder enc = STM32HWEncoder(ENC_PPR, ENC_A, ENC_B, ENC_Z);
* The current sense amps have a gain of 90mA/V -> over 1.5A this is 135mA so we need gain of 24 to get full-scale.
* Actually we are limited to powers of 2 for gain. So it should be 16. This gives sensitivity of 1440mV/A.
* */
InlineCurrentSenseSync currentsense = InlineCurrentSenseSync(1440, ISENSE_U, ISENSE_V);
InlineCurrentSenseSync currentsense = InlineCurrentSenseSync(90, ISENSE_U, ISENSE_V, ISENSE_W);
StepperDriver4PWM driver = StepperDriver4PWM(MOT_A1, MOT_A2, MOT_B1, MOT_B2);
// StepperDriver4PWM driver = StepperDriver4PWM(PA0, PA9, PA1, PA10, PB12);
// StepperDriver4PWM driver = StepperDriver4PWM(MOT_A1, MOT_A2, MOT_B1, MOT_B2);
// StepperMotor motor = StepperMotor(POLEPAIRS, RPHASE, MOTORKV, 0.0045);
StepperMotor motor = StepperMotor(POLEPAIRS);
Commander commander = Commander(SERIALPORT);
@@ -145,17 +148,26 @@ void setup()
// }
}
DQCurrent_s foc_currents;
float electrical_angle;
PhaseCurrent_s phase_currents;
void loop()
{
motor.loopFOC();
motor.move();
commander.run();
if(counter == 0){
digitalToggle(LED_GOOD);
Serial.println(adc1Result[0]);
}
electrical_angle = motor.electricalAngle();
phase_currents = currentsense.getPhaseCurrents();
foc_currents = currentsense.getFOCCurrents(electrical_angle);
if(counter == 0xFFF){
digitalToggle(LED_GOOD);
// Serial.println(adc1Result[0]);
counter = 0;
}
counter++;
#ifdef HAS_MONITOR
motor.monitor();
#endif
@@ -211,15 +223,17 @@ uint8_t configureFOC(void)
driver.init();
// Motor PID parameters.
motor.PID_velocity.P = 5;
motor.PID_velocity.I = 24;
motor.PID_velocity.D = 0.01;
motor.PID_velocity.P = 0.035;
motor.PID_velocity.I = 0.01;
motor.PID_velocity.D = 0.000;
motor.LPF_velocity.Tf = 0.004;
motor.PID_velocity.output_ramp = 750;
motor.PID_velocity.limit = 500;
motor.LPF_velocity.Tf = 4;
motor.P_angle.P = 600;
motor.P_angle.limit = 10000;
motor.P_angle.P = 350;
motor.P_angle.I = 8;
motor.P_angle.D = 0.3;
motor.LPF_angle = 0.001;
motor.LPF_angle.Tf = 0; // try to avoid
// Motor initialization.