Bayley Wang / Mbed 2 deprecated priustroller

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Dependencies:   mbed

Fork of analoghalls5_5 by N K

Diff: loopdriver.cpp

Revision:
4:fdadf4a3577a
Parent:
3:0a2396597e0d
Child:
5:ee1e6c84c302
--- a/loopdriver.cpp	Mon Mar 02 01:24:37 2015 +0000
+++ b/loopdriver.cpp	Mon Mar 02 11:17:15 2015 +0000
@@ -11,6 +11,7 @@
 PidController* LoopDriver::_pid_q;
 ReferenceSynthesizer* LoopDriver::_reference;
 Modulator* LoopDriver::_modulator;
+int LoopDriver::_blinky_toggle;
 
 LoopDriver::LoopDriver(Inverter *inverter, Motor *motor, User *user, PidController *pid_d, 
                        PidController *pid_q, Modulator *modulator, float max_phase_current, int update_frequency) {
@@ -59,6 +60,12 @@
 }
 
 void LoopDriver::update() {
+    _blinky_toggle = !_blinky_toggle;
+    
+    _inverter->SetDtcA(LutSin(_motor->angle));
+    _inverter->SetDtcB(LutSin(_motor->angle - 120.0f));
+    _inverter->SetDtcC(LutSin(_motor->angle + 120.0f));
+    
     float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta;
     Clarke(_motor->I_a, _motor->I_b, &alpha, &beta);
     Parke(alpha, beta, _motor->angle, &d, &q);