Diff: loopdriver.cpp

Revision:

10:b4abecccec7a

Parent:

9:d3b70c15baa9

--- a/loopdriver.cpp	Fri Mar 06 19:12:53 2015 +0000
+++ b/loopdriver.cpp	Sun Mar 08 00:45:28 2015 +0000
@@ -89,28 +89,28 @@
     d_mean = 0.01f*d + 0.99f*d_mean;
     q_mean = 0.01f*q + 0.99f*q_mean;
 
-    _reference->GetReference(_motor->angle, &ref_d, &ref_q);  //this just returns d = 0 and q = 1 right now.  doesn't care about angle
+    _reference->GetReference(_motor->angle, _user->throttle, &ref_d, &ref_q);  //this just returns d = 0 and q = 1 right now.  doesn't care about angle
     float vd = _pid_d->Update(ref_d, d_mean);
     float vq = _pid_q->Update(ref_q, q_mean);
     
-    test_alpha = vd;
-    test_beta = vq;
+    vd = 0.0f;
+    vq = _user->throttle;
     
-    /*
-    //overriding PI controller here because we're not actually doing current control yet
-    //These values are approximately what I saw coming out of the park transform.  just feeding them back in here to test the loop
-    vd = 0.0f;
-    vq = -1.0f;  
-    */
     
     InverseParke(vd, vq, _motor->angle, &valpha, &vbeta);
-
+    
+    if(acquire==1){
+        if(bufidx < bufsize){
+            fbuffer[bufidx] = _motor->angle;
+        }
+        else{
+            acquire = 0;
+        }
+    }   
     _modulator->Update(valpha, vbeta); 
     
     /*
-    _inverter->SetDtcA((LutSin(_motor->angle)/2.0f)+0.5f);
-    _inverter->SetDtcB((LutSin(_motor->angle - 120.0f)/2.0f)+0.5f);
-    _inverter->SetDtcC((LutSin(_motor->angle + 120.0f)/2.0f)+0.5f);
-    */
-    
+    test_alpha = valpha;
+    test_beta = vbeta;
+    */  
 }