This folder contains power converter tests of a few types.

-- Efficiency Map Tests.  These tests are performed by the system for a few seconds at a variety of points in the torque-speed space. At each point the mean system values (Bus Voltage, Winding Current, Load Dump Current, Batt Charge/Draw current, etc) are computed and recorded.  Because of the way the test sytem works, these runs are done by having the test drive-motor spin the system at a constant speed while the controller cycles through a range of requested winding currents, some which cause the power conveter to be a generator and some to make it act as a motor.  All selected speeds are then run sequentially this way to complete the map.  Because the torque sensor seems to have a small hysterysis, this test map is run twice with the Winding currents moving from negative to positive in one test and then from negative to positive in the other test.  These two tests maps are then averaged to help account for the hystersis.  The slope of the the torque sensor output is also dependent on direction, so the results are averaged across diagonal quadrants to result in a map that is perfectly symmetric map across diagonal quadrants.  This represents our best estimate of the converters performance.  

The .mat files in this directory are as follows:
- Mar22-2021_EffMap_NegToPosTorque.mat  This is the test data run with the winding currents moving from negative to positive within each speed.
- Mar22-2021_EffMap_PosToNegTorque.mat  This is the test data run with the winding currents moving from positive to negative within each speed.
- Mar22-2021_EffMap_AveragedTorqueDir.mat  This is a map that results from averaging the NegToPos and PosToNeg results.
- Mar22-2021_EffMap_AveragedQuadrants.mat  This is a map in which the generator quadrants represent an average of the AveragedTorqueDir.mat generator quadrants and the motor quadrants represent an average of the AveragedTorqueDir.mat motor quadrants.  As such, this result is perfectly symmetric across diagonal quadrants.

These results still show the system using about 30W at zero speed and zero RPM.  Within a small box around the torque-speed origin (+/- .2A and +/- 300RPM) the system turns off the bridge power suplies and is incapable of switching.  In this mode the only power draw is the processor and endoder so should be just a few Watts.  This error is related to the IBatt current sensor and would require a non-linear calibration to make it more accurate so we just live with this for now.