Bayley Wang
/
priustroller
Prius IPM controller
Fork of analoghalls5_5 by
Diff: main.cpp
- Revision:
- 24:f1ff9c7256b5
- Parent:
- 11:dccbaa9274c5
- Child:
- 25:0003b824dd7d
--- a/main.cpp Mon Mar 09 08:28:22 2015 +0000 +++ b/main.cpp Mon Mar 09 11:33:14 2015 +0000 @@ -11,11 +11,14 @@ Context *context = new Context(); context->ConfigureOutputs(D6, D13, D3, D8); context->ConfigureCurrentSensors(A1, A2, 0.01, 0.95); - context->ConfigurePidControllers(0.001f, 0.1f, 0.0f, 5.0f, -5.0f); + context->ConfigurePidControllers(0.01f, 0.0f, 0.0f, 1.0f, -1.0f); context->ConfigureThrottle(A0, 0.8f, 3.0f); context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f); + context->ConfigureReference(5.0f); + context->ConfigureDebugger(2, 1000); context->AttachCallBack(&fast, 5000); context->AttachCallBack(&slow, 10); context->AttachCallBack(&debug, 10); + context->AttachCallBack(&log, 500); context->Start(); }