Commit Graph

11 Commits

Author SHA1 Message Date
interfisch 5de1169cef change control type and field weakening 2019-12-03 22:21:47 +01:00
interfisch 7e670e06d2 changes for independant left and right speed serial control 2019-11-30 21:42:32 +01:00
EmanuelFeru 6c8b7f001d Added Sinusoidal Control Type
Sinusoidal Control Type is now available is this branch. To select it go in config.h and change CTRL_TYP_SEL to 1. By default FOC control type is selcted.
Note: SPEED and TORQUE modes are not available for Sinusoidal control type.
2019-11-30 11:30:12 +01:00
EmanuelFeru 5d195696a2 Implemented reliable Serial Rx/Tx
► Reliable Serial Communication implemented featuring:
- start frame
- checksum
- out-of-sync handling
- timeout and disconnected line detection
► Arduino example code added
► Fixed ConsoleLog Item #5
2019-11-29 17:31:53 +01:00
EmanuelFeru 62873aad57 PI controller update and fixes
Major:
• all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations

Minor:
• fixed the ADC calibration for potetiometer input when ADCx_MIN > 0
• fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 22:07:52 +01:00
EmanuelFeru 1376793710 Improvements and Issues implementation
Major:
- Issue #3: added raw ADC1, ADC2 values to the setScopeChannel
- Issue #4: added functionality for joystick control. Middle resting potis are now supported (by default it is enabled)
- Issue #6: implemented that board does not power-off after a software reset due to flashing
- added Rate constraints for Input target for smoother response

Minor:
- added 2 beep sound when motors get enabled
- minor bugfixes
2019-10-27 18:21:04 +01:00
EmanuelFeru 1cc8b3475f Visual updates 2019-10-22 21:45:47 +02:00
EmanuelFeru af14b3c4b1 Improved Field Weakening
The performance of the Field Weakening is improved by reducing noise at higher speeds.
2019-10-21 17:51:09 +02:00
EmanuelFeru 8771742558 Floating-point converted to fixed-point
The follwing were converted to fixed-point
- battery voltage
- board temperature
- filters for steer and speed
- mixer calculation

Starting from this moment, the firmware is floating point free, meaning it runs more efficiently.
2019-10-20 13:31:47 +02:00
EmanuelFeru f6fc825e5f DC Link converted to fixed-point 2019-10-12 19:51:31 +02:00
EmanuelFeru 5b0b6fecf2 Initial commit 2019-10-06 15:09:15 +02:00