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Account for swapped current limits

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This commit is contained in:
atse 2024-09-23 16:31:13 +08:00
parent ce4fb6090a
commit 1741acfc3b
1 changed files with 20 additions and 4 deletions
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24
src/channels.rs
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@ -389,12 +389,20 @@ impl Channels {
} }
pub fn get_max_i_pos(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) { pub fn get_max_i_pos(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
let duty = self.get_pwm(channel, PwmPin::MaxIPos); let duty = if self.channel_state(channel).polarity_swapped {
self.get_pwm(channel, PwmPin::MaxINeg)
} else {
self.get_pwm(channel, PwmPin::MaxIPos)
};
(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, MAX_TEC_I) (duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, MAX_TEC_I)
} }
pub fn get_max_i_neg(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) { pub fn get_max_i_neg(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
let duty = self.get_pwm(channel, PwmPin::MaxINeg); let duty = if self.channel_state(channel).polarity_swapped {
self.get_pwm(channel, PwmPin::MaxIPos)
} else {
self.get_pwm(channel, PwmPin::MaxINeg)
};
(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, MAX_TEC_I) (duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, MAX_TEC_I)
} }
@ -450,14 +458,22 @@ impl Channels {
pub fn set_max_i_pos(&mut self, channel: usize, max_i_pos: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) { pub fn set_max_i_pos(&mut self, channel: usize, max_i_pos: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
let max = ElectricCurrent::new::<ampere>(3.0); let max = ElectricCurrent::new::<ampere>(3.0);
let duty = (max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero()) / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>(); let duty = (max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero()) / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
let duty = self.set_pwm(channel, PwmPin::MaxIPos, duty); let duty = if self.channel_state(channel).polarity_swapped {
self.set_pwm(channel, PwmPin::MaxINeg, duty)
} else {
self.set_pwm(channel, PwmPin::MaxIPos, duty)
};
(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max) (duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
} }
pub fn set_max_i_neg(&mut self, channel: usize, max_i_neg: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) { pub fn set_max_i_neg(&mut self, channel: usize, max_i_neg: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
let max = ElectricCurrent::new::<ampere>(3.0); let max = ElectricCurrent::new::<ampere>(3.0);
let duty = (max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero()) / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>(); let duty = (max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero()) / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
let duty = self.set_pwm(channel, PwmPin::MaxINeg, duty); let duty = if self.channel_state(channel).polarity_swapped {
self.set_pwm(channel, PwmPin::MaxIPos, duty)
} else {
self.set_pwm(channel, PwmPin::MaxINeg, duty)
};
(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max) (duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
} }