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brake fix

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This commit is contained in:
Rene Hopf
2017-05-19 22:30:55 +02:00
parent 14e0bc80f0
commit 5b28a49837
2 changed files with 11 additions and 11 deletions
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14
conf/festo.txt
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@@ -1,5 +1,5 @@
conf0.r = 9.600000
conf0.l = 0.013300
conf0.l = 0.010000
conf0.j = 0.000026
conf0.psi = 0.055000
conf0.polecount = 4.000000
@@ -10,14 +10,14 @@ conf0.max_motor_temp = 100.000000
conf0.phase_time = 0.500000
conf0.phase_cur = 1.000000
conf0.max_vel = 800.000000
conf0.max_acc = 100000.000077
conf0.max_acc = 100000.000000
conf0.max_force = 2.800000
conf0.max_dc_cur = 5.000000
conf0.max_ac_cur = 6.800000
conf0.fb_type = 2.000000
conf0.fb_polecount = 1.000000
conf0.fb_offset = 1.324000
conf0.fb_rev = 0.000000
conf0.fb_rev = 1.000000
conf0.fb_res = 1000.000000
conf0.autophase = 0.000000
conf0.cmd_type = 1.000000
@@ -41,11 +41,11 @@ conf0.high_hv_temp = 70.000000
conf0.fan_hv_temp = 60.000000
conf0.fan_core_temp = 450.000000
conf0.fan_motor_temp = 60.000000
conf0.p = 0.990000
conf0.g = 0.990000
conf0.pos_p = 150.000000
conf0.vel_p = 1.000000
conf0.acc_p = 0.200000
conf0.acc_pi = 100.000000
conf0.vel_p = 2500.000000
conf0.vel_i = 5.000000
conf0.vel_g = 1.000000
conf0.cur_p = 0.500000
conf0.cur_i = 0.000000
conf0.cur_ff = 1.000000

8
src/link.c
View File

@@ -14,7 +14,7 @@ void link_ac(){
hal_link_pins("conf0.polecount", "t2c0.polecount");
hal_link_pins("conf0.psi", "t2c0.psi");
hal_link_pins("cauto0.pos", "t2c0.pos");
hal_link_pins("t2c0.cur", "hv0.q_cmd");
hal_link_pins("cauto0.i_d", "hv0.d_cmd");
hal_link_pins("cauto0.pos", "hv0.pos");
@@ -73,7 +73,7 @@ void link_ac(){
hal_link_pins("pmsm_limits0.max_torque", "pid0.max_torque");
hal_link_pins("pmsm_limits0.min_torque", "pid0.min_torque");
hal_link_pins("pmsm_limits0.abs_max_vel", "pid0.max_vel");
// i2t
hal_link_pins("conf0.r", "i2t0.mot_res");
hal_link_pins("conf0.psi", "i2t0.mot_psi");
@@ -83,7 +83,7 @@ void link_ac(){
// hal_link_pins("conf0.max_ac_cur", "i2t0.mot_cont_cur");
// hal_link_pins("i2t0.mot_temp", "fault0.motor_temp");
hal_link_pins("fault0.mot_brake", "i2t0.brake");
hal_link_pins("curpid0.ud", "idq0.d");
hal_link_pins("curpid0.uq", "idq0.q");
hal_link_pins("conf0.polecount", "idq0.polecount");
@@ -168,7 +168,7 @@ void link_pid(){
hal_link_pins("hv0.com_error", "fault0.hv_error");
// hal_link_pins("hv0.hv_fault", "fault0.hv_error"); //TODO
hal_link_pins("fault0.mot_brake", "io0.brake");
hal_link_pins("fault0.mot_brake", "io0.out0");
hal_link_pins("fault0.hv_fan", "io0.fan");
hal_link_pins("fault0.en_out", "hv0.en");