CurrentControl.c File Reference

The source for the current control file. More...

#include "r2r.h"
#include "CurrentControl.h"
#include "PositionControl.h"
#include "Motor.h"
#include "Utilities.h"
#include <stdio.h>

Macros
#define	SWITCHDELAY   30
#define	MA_PER_COUNT   5.75474330357

Functions
void	currentControlInit (void)
	Init ADC. More...
void	CurrentControlIntHandler (void)
	The interrupt handler for the current control loop. More...
void	PI_controller (int motor, int reference, int actual)
	Simple PI controller that uses motorxControlPWM to control the motor output. More...
void	get_current_gains (void)
	Print the current gains to UART. More...
void	set_current_gains (void)
	Sets the current gains by reading the UART buffer. More...
void	setCurrent (int motor, int u)
	Sets the reference current for a given motor. More...
int	getCurrent (int motor)
	Gets the motor current in counts (12 bit signed) More...
void	reset_current_error (void)
	Sets the current gains by reading the UART buffer. More...
void	counts_read (void)
	Reads the counts of the current to UART from an array. More...
void	AD0_read (int mux)
	Triggers the ADC reading and saves it to the TEMP array. More...
void	get_mA (void)
	Print the current in mA to UART. More...
void	get_counts (void)
	Print the current counts to UART. More...
void	setADCMux (int motor, int number)
	Sets the ADC MUX to read from either the current sense resistor 1, 2 or 3 from motor 1 or 2. More...

Detailed Description

The source for the current control file.

This file contains the functions for current sensing and control.

Author

Benjamen Lim

Huan Weng

Blake Strebel

Function Documentation

AD0_read()

void AD0_read

(

int

mux

)

Triggers the ADC reading and saves it to the TEMP array.

On the PCB you have to specify either 1 or 2 to read the phase. For the breadboard prototype the number does not matter

Parameters

int	the muxed pins, specify 1 for phase A and 2 for phase B

Returns

Void

counts_read()

void counts_read

(

void

)

Reads the counts of the current to UART from an array.

Parameters

Void

Returns

Void

currentControlInit()

void currentControlInit

(

void

)

Init ADC.

Initialises ADC with Sequence 0, capturing 8 samples and a FIFO depth of 8 32-bit words, with last 12 bits containing the conversion result

Parameters

Void

Returns

Void

CurrentControlIntHandler()

void CurrentControlIntHandler

(

void

)

The interrupt handler for the current control loop.

Parameters

Void

Returns

Void

get_counts()

void get_counts

(

void

)

Print the current counts to UART.

Parameters

Void

Returns

Void

get_current_gains()

void get_current_gains

(

void

)

Print the current gains to UART.

Parameters

Void

Returns

Void

get_mA()

void get_mA

(

void

)

Print the current in mA to UART.

Parameters

Void

Returns

Void

getCurrent()

int getCurrent

(

int

motor

)

Gets the motor current in counts (12 bit signed)

Parameters

int

motor

Returns

int motor current in counts (12 bit signed)

PI_controller()

void PI_controller	(	int	motor,
		int	reference,
		int	actual
	)

Simple PI controller that uses motorxControlPWM to control the motor output.

Parameters

int	motor
int	reference value
int	actual value

Returns

Void

reset_current_error()

void reset_current_error

(

void

)

Sets the current gains by reading the UART buffer.

Parameters

Void

Returns

Void

set_current_gains()

void set_current_gains

(

void

)

Sets the current gains by reading the UART buffer.

Parameters

Void

Returns

Void

setADCMux()

void setADCMux	(	int	motor,
		int	number
	)

Sets the ADC MUX to read from either the current sense resistor 1, 2 or 3 from motor 1 or 2.

Parameters

Void

Returns

Void

setCurrent()

void setCurrent	(	int	motor,
		int	u
	)

Sets the reference current for a given motor.

Parameters

int	motor
int	u the reference value

Returns

Void