CurrentControl.h File Reference

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

Go to the source code of this file.

Functions
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	setCurrent (int motor, int u)
	Sets the reference current for a given motor. 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	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...
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	currentControlInit (void)
	Init ADC. 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 header 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