Diff: main.cpp

Revision:

74:f10cb573d7ca

Parent:

73:d44bc3a46942

Child:

75:591556ce033d

--- a/main.cpp	Mon Feb 20 12:37:21 2017 +0000
+++ b/main.cpp	Fri Feb 24 13:03:34 2017 +0000
@@ -123,7 +123,12 @@
 }
 
 void slow_loop() {
-    control.torque_percent = update_filter(control.torque_percent, th->map(io.throttle_in->get_throttle(), read.w), THROTTLE_FILTER_STRENGTH);
+    float x = io.throttle_in->get_throttle();
+    if (x < THROTTLE_FILTER_THRESHOLD) {
+        control.torque_percent = update_filter(control.torque_percent, th->map(io.throttle_in->get_throttle(), read.w), THROTTLE_FILTER_STRENGTH_LOW);
+    } else {
+        control.torque_percent = update_filter(control.torque_percent, th->map(io.throttle_in->get_throttle(), read.w), THROTTLE_FILTER_STRENGTH_HI);
+    }
     dq->map(control.torque_percent, read.w, &control.d_ref, &control.q_ref);
 }
 
@@ -148,8 +153,9 @@
 }
 
 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,%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) (255 * control.torque_percent));
     wait(1.0f / LOG_FREQUENCY);
 }