all of the work days changes and the added late night big changes

source_code/Teensy35/src/motor_ctrl.cpp

@@ -16,11 +16,14 @@
 
 // TODO: #define coast <available pin>
 
+const int sleep_time = 30;// every sleep_time code cycles, turn everything off just to discharge 
+
 // #define HB1EN 0 //halfbridge 1 enable
 // #define HB2EN 1 //halfbridge 2 enable
 // #define HB3EN 2 //halfbridge 3 enable
 
 const int led = 13;
+const int time_led = 1;
 
 // This scale factor scales the potentiometer
 int const SCALE_FACTOR = 240;
@@ -88,6 +91,9 @@ void motor_setup(void) {
     pinMode(led, OUTPUT);
     digitalWrite(led, HIGH);
 
+    pinMode(time_led, OUTPUT);
+    digitalWrite(time_led, LOW);
+
     //setup the pot_0_timer and the coast_timer to run thirty times a second
     pot_0_timer.begin(pot_0_speed_ISR, 33333);
 }
@@ -196,6 +202,35 @@ void set_phase(int high1, int high2, int high3, int low1, int low2, int low3)
 
 void set_phase_float(float f1, float f2, float f3)
 {
+    //YOU MUST SLOW DOWN THIS CODE TO MATCH YOUR FREQ or be slower 
+    
+
+    static int last_f1i = 0;
+    static int last_f2i = 0;
+    static int last_f3i = 0;
+
+    // static int sleep_counter = 0;
+
+
+    // if (sleep_counter >= sleep_time)
+    // {
+    //     sleep_counter = 0;
+    //     // now we want to turn everything off just for this cycle
+    //     // analogWrite(H1, 0.0);
+    //     // analogWrite(H2, 0.0);
+    //     // analogWrite(H3, 0.0);
+    //     digitalWrite(L1, 0);
+    //     digitalWrite(L2, 0);
+    //     digitalWrite(L3, 0);
+    //     return;
+    // }
+
+    // sleep_counter++;
+
+
+
+
+
     //deal with the potentiometer first
     // NOTE: The scale factor of is the max value we want out of
     // the potentiometer
@@ -214,29 +249,96 @@ void set_phase_float(float f1, float f2, float f3)
     int f2i = (int) f2;
     int f3i = (int) f3;
 
-    if(f1i == 0){
-        digitalWrite(L1, 1);
-    }
-    else{
+    bool f1_is_transient = false;
+    bool f2_is_transient = false;
+    bool f3_is_transient = false;
+
+    // work with transient states 
+    if ( (last_f1i == 0) && (f1i != 0) )
+    {
+        // f1 used to have low side on now has high side on
+        // turn off f1 low side first then do f1s high side 
         digitalWrite(L1, 0);
+        analogWrite(H1, f1i);
+        f1_is_transient = true;
     }
-    analogWrite(H1, f1i);
-
-    if(f2i == 0){
-        digitalWrite(L2, 1);
+    else if ( (last_f1i != 0) && (f1i == 0) ){
+        //f1 used to have high side running now has low side on
+        // turn off the high side first then do f1s low side
+        analogWrite(H1, 0);
+        digitalWrite(L1, 1);
+        f1_is_transient = true;
     }
-    else{
+
+    if ( (last_f2i == 0) && (f2i != 0) )
+    {
+        // f2 used to have low side on now has high side on
+        // turn off f2 low side first then do f2s high side 
         digitalWrite(L2, 0);
+        analogWrite(H2, f2i);
+        f2_is_transient = true;
+    }
+    else if ( (last_f2i != 0) && (f2i == 0) ){
+        //f2 used to have high side running now has low side on
+        // turn off the high side first then do f2s low side
+        analogWrite(H2, 0);
+        digitalWrite(L2, 1);
+        f2_is_transient = true;
     }
-    analogWrite(H2, f2i);
 
-    if(f3i == 0){
+
+    if ( (last_f3i == 0) && (f3i != 0) )
+    {
+        // f3 used to have low side on now has high side on
+        // turn off f3 low side first then do f3s high side 
+        digitalWrite(L3, 0);
+        analogWrite(H3, f3i);
+        f3_is_transient = true;
+    }
+    else if ( (last_f3i != 0) && (f3i == 0) ){
+        //f3 used to have high side running now has low side on
+        // turn off the high side first then do f3s low side
+        analogWrite(H3, 0);
         digitalWrite(L3, 1);
+        f3_is_transient = true;
     }
-    else{
-        digitalWrite(L3, 0);
+
+
+    if (! f1_is_transient){
+        if(f1i == 0){
+            digitalWrite(L1, 1);
+        }
+        else{
+            digitalWrite(L1, 0);
+        }
+        analogWrite(H1, f1i);
+    }
+
+    if (! f2_is_transient){
+        if(f2i == 0){
+            digitalWrite(L2, 1);
+        }
+        else{
+            digitalWrite(L2, 0);
+        }
+        analogWrite(H2, f2i);
+    }
+
+    if (! f3_is_transient){
+        if(f3i == 0){
+            digitalWrite(L3, 1);
+        }
+        else{
+            digitalWrite(L3, 0);
+        }
+        analogWrite(H3, f3i);
     }
-    analogWrite(H3, f3i);
+
+    last_f1i = f1i;
+    last_f2i = f2i;
+    last_f3i = f3i;
+
+    
 }
 
 void motor_butt_control_inefficient(void)
@@ -246,6 +348,7 @@ void motor_butt_control_inefficient(void)
 
     while(1)
     {
+        
         int position = get_wheel_position_ticks();
         float n = (position/8192) * 12 * 2 * pi;
         n += 5*(pi/3);
@@ -268,6 +371,7 @@ void motor_butt_control_precalculated(void)
 
     while(1)
     {
+        digitalWrite(time_led, HIGH);
         // get the current encoder tics (this does the math to offset)
         int position = get_wheel_position_ticks();
         // get position within current electrical revolution
@@ -277,6 +381,10 @@ void motor_butt_control_precalculated(void)
         float f3 = C_SIN_FACTORS_SHIFTED[ele_position];
 
         set_phase_float(f1,f2,f3);
+        digitalWrite(time_led, LOW);
+        delayMicroseconds(42); // This was calculated to keep the code
+                              // from running faster than the period 
+                              // of the high side freq
     }
 }
 

source_code/Teensy35/src/utils.cpp

@@ -5,7 +5,7 @@
 
 float CALIBRATION_MAX_PWM = 100.0;
 
-const float UPWARD_ROC_LIMITER = 20.0;
+const float UPWARD_ROC_LIMITER = 10.0;
 float UPWARD_ROC_PREV_VALUE = 0;
 
 #define debugJumperOut 11