Sten updates

xin198365 · May 6, 2014 · e605570 · e605570
1 parent 99fca89
commit e605570
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Showing 3 changed files with 9 additions and 6 deletions.
diff --git a/applications/app_sten.c b/applications/app_sten.c
@@ -30,6 +30,7 @@
 #include "stm32f4xx_conf.h"
 #include "servo_dec.h"
 #include "mcpwm.h"
+#include "utils.h"
 #include <math.h>
 
 // Threads
@@ -175,8 +176,9 @@ static msg_t sten_thread(void *arg) {
 			}
 
 			// Use duty cycle control when running slowly, otherwise use current control.
-			if (fabsf(mcpwm_get_rpm()) < 2500 && fabsf(servo_val) > MCPWM_MIN_DUTY_CYCLE) {
+			if (fabsf(mcpwm_get_rpm()) < 4500 && fabsf(servo_val) > MCPWM_MIN_DUTY_CYCLE) {
 				if (servo_val > 0.0) {
+					utils_truncate_number(&servo_val, 0.1, 0.3);
 					mcpwm_set_duty(servo_val);
 				} else {
 					mcpwm_set_duty(0.0);

diff --git a/conf_general.h b/conf_general.h
@@ -39,7 +39,8 @@
 /*
  * Select only one motor configuration
  */
-#define MCCONF_OUTRUNNER1
+//#define MCCONF_OUTRUNNER1
+#define MCCONF_OUTRUNNER2
 //#define MCCONF_RCCAR1
 //#define MCCONF_STEN
 

diff --git a/mcconf/mcconf_sten.h b/mcconf/mcconf_sten.h
@@ -28,8 +28,8 @@
 /*
  * Parameters
  */
-#define MCPWM_CURRENT_MAX				60.0	// Current limit in Amperes (Upper)
-#define MCPWM_CURRENT_MIN				-60.0	// Current limit in Amperes (Lower)
+#define MCPWM_CURRENT_MAX				40.0	// Current limit in Amperes (Upper)
+#define MCPWM_CURRENT_MIN				-40.0	// Current limit in Amperes (Lower)
 #define MCPWM_IN_CURRENT_MAX			25.0	// Input current limit in Amperes (Upper)
 #define MCPWM_IN_CURRENT_MIN			-25.0	// Input current limit in Amperes (Lower)
 #define MCPWM_RPM_MAX					29000.0	// The motor speed limit (Upper)
@@ -39,7 +39,7 @@
 
 // Sensorless settings
 #define MCPWM_IS_SENSORLESS				1		// Use sensorless commutation
-#define MCPWM_MIN_RPM					250		// Auto-commutate below this RPM
+#define MCPWM_MIN_RPM					300		// Auto-commutate below this RPM
 #define MCPWM_CYCLE_INT_LIMIT_LOW		250.0	// Flux integrator limit 0 ERPM
 #define MCPWM_CYCLE_INT_LIMIT_HIGH		30.0	// Flux integrator limit 50K ERPM
 
@@ -50,7 +50,7 @@
 #define MCPWM_PID_MIN_RPM				1200.0	// Minimum allowed RPM
 
 // Current control parameters
-#define MCPWM_CURRENT_CONTROL_GAIN		0.0002	// Current controller error gain
+#define MCPWM_CURRENT_CONTROL_GAIN		0.0016	// Current controller error gain
 #define MCPWM_CURRENT_CONTROL_MIN		1.0		// Minimum allowed current
 
 #endif /* MCCONF_STEN_H_ */