Made new motor work
-Calibrate resistance, inductance, and Kv (also, we never committed the
Python calibrations for the old motor).
-Fix feedback term--we were comparing a current to the commanded current
corresponding to the cycle after it, which could've been an issue.
-Add some more debugging code that is useful when calibrating the motor.
-Increase baud rate of ITM to 128k
-Increase motor braking current to 100A from 80A
-Use measured current instead of goal current on fuse monitoring--should
cause it to perform better in situations where we track poorly (e.g.,
near full speed).
Change-Id: I1b5ff71b42323cb96f229c70821e9e0860ac4e4c
diff --git a/motors/big/motor_controls.h b/motors/big/motor_controls.h
index aae97d0..5c59ef1 100644
--- a/motors/big/motor_controls.h
+++ b/motors/big/motor_controls.h
@@ -51,11 +51,16 @@
return static_cast<int16_t>(I_last_[ii] * 10.0f);
}
+ float overall_measured_current() const override {
+ return overall_measured_current_;
+ }
+
private:
const ComplexMatrix<3, 1> E1Unrotated_, E2Unrotated_;
float estimated_velocity_ = 0;
float filtered_current_ = 0;
+ float overall_measured_current_ = 0;
::Eigen::Matrix<float, 3, 1> I_last_ = ::Eigen::Matrix<float, 3, 1>::Zero();