puts("duty:[hodnota] - Nastavi pevnou sirku plneni.");
puts("spd:[hodnota] - Zapne rizeni na danou rychlost.");
puts("log - Spusti nebo ulozi logovani.");
+ puts("ao:[hodnota] - Prenastavi alpha offset.");
puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
sem_post(&state->thd_par_sem);
}
+/*
+ * \brief
+ * Set alpha offset.
+ */
+static void setAlphaOff(struct rpi_state* state, int offset){
+ if (offset<0) offset*=-1;
+ offset%=1000;
+ sem_wait(&state->thd_par_sem);
+ state->alpha_offset=(unsigned short)offset;
+ sem_post(&state->thd_par_sem);
+}
+
/*
* \brief
* Initialize logs
setSpeed(state, val);
}else if (!strcmp(cmd,"log")){
setLogSEM(state);
+ }else if (!strcmp(cmd,"ao")){
+ setAlphaOff(state,val);
}
}
printf("rychlost=%d\n",s.speed);
printf("chtena pozice=%d\n",s.desired_pos);
printf("chtena rychlost=%d\n",s.desired_spd);
+ printf("alpha offset=%hu\n",s.alpha_offset);
printf("transfer count=%u\n",s.tf_count);
printf("raw_pozice=%u\n",data_p.pozice_raw);
printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
#define PID_P 0.3
-#define PID_P_S 0.8 /*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
-#define PID_I_S 0.01
+
+/* RL-tool results from first order system approx */
+/* P=0.16 I=13,4/freq=0.013 */
+/* Hodnoty upraveny podle skutecnych vysledku */
+/* P=0.8 I=0.01 */
+
+#define PID_P_S 0.16 /*2.3 kmita*/ /*1.4 vhodne jen pro P regulator*/
+#define PID_I_S 0.0134
#define PRIOR_KERN 50
#define PRIOR_HIGH 49
.spd_err_sum=0,
.log_col_count=0, /* pocet radku zaznamu */
.log_col=0,
- .doLogs=0
+ .doLogs=0,
+ .alpha_offset=960
};
/**
int32_t u1,u2,u3;
pos=rps.index_dist;
- pos+=960; /*zarovnani faze 'a' s osou 'alpha'*/
+ pos+=rps.alpha_offset; /*zarovnani faze 'a' s osou 'alpha'*/
/*pro výpočet sin a cos je pouzita 32-bit cyklicka logika*/
pos*=4294967;
char commutate; /* zapina prepocet duty na jednotlive pwm */
char pos_reg_ena; /* position regulation enable */
char spd_reg_ena; /* speed rugulation enable */
+ unsigned short alpha_offset; /* offset between 'alpha' and 'a' axis */
int spd_err_sum; /* for speed pid regulator */