Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 91:f58472ac3fae
- Parent:
- 90:2ef53b1a22de
- Child:
- 92:a9dac72d8cac
diff -r 2ef53b1a22de -r f58472ac3fae main.cpp --- a/main.cpp Tue Apr 04 04:05:37 2017 +0000 +++ b/main.cpp Wed Apr 05 20:57:18 2017 +0000 @@ -151,33 +151,31 @@ } void log() { - io.pc->printf("%d,%d,%d,%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_ref, (int) control.d_filtered, (int) control.q_ref, (int) control.q_filtered, (int) (255 * control.torque_percent), - (int) (255 * foc.vd), (int) (255 * foc.vq)); - //io.pc->printf("%d\n", io.throttle_in->get_usecs()); + //io.pc->printf("%d,%d,%d,%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_ref, (int) control.d_filtered, (int) control.q_ref, (int) control.q_filtered, (int) (255 * control.torque_percent), + // (int) (255 * foc.vd), (int) (255 * foc.vq)); + io.pc->printf("%d\n", (int) (control.d_filtered));//io.throttle_in->get_usecs()); wait(1.0f / LOG_FREQUENCY); } extern "C" void TIM1_UP_TIM10_IRQHandler(void) { - test = 1; int start_state = io.throttle_in->state(); + if (TIM1->SR & TIM_SR_UIF ) { + test = 1; ADC1->CR2 |= 0x40000000; - //volatile int delay; - //for (delay = 0; delay < 35; delay++); - volatile int eoc1, eoc2; - while (!eoc1 && !eoc2) { - eoc1 = ADC1->SR & ADC_SR_EOC; - eoc2 = ADC2->SR & ADC_SR_EOC; - } + volatile int delay; + for (delay = 0; delay < 35; delay++); + read.adval1 = ADC1->DR; read.adval2 = ADC2->DR; + test = 0; + commutate(); } TIM1->SR = 0x00; int end_state = io.throttle_in->state(); if (start_state != end_state) io.throttle_in->block(); - test = 0; } int main() {