Bayley Wang / Mbed 2 deprecated priustroller

Prius IPM controller

Dependencies:   mbed

Fork of analoghalls5_5 by N K

Diff: callbacks.cpp

Revision:
25:0003b824dd7d
Parent:
24:f1ff9c7256b5
Child:
27:846c08fb3697
--- a/callbacks.cpp	Mon Mar 09 11:33:14 2015 +0000
+++ b/callbacks.cpp	Tue Mar 10 17:47:08 2015 +0000
@@ -27,9 +27,14 @@
     dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered);
     dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered);
     
+    /*
     vd = 0.0f;
     vq = c->user->throttle;
-    
+    */
+    /*
+    vd = 0.05f;
+    vq = 0.95f;
+    */
     InverseParke(vd, vq, angle, &valpha, &vbeta);
     
     c->modulator->Update(valpha, vbeta); 
@@ -40,7 +45,7 @@
 }
 
 void debug(Context *c) {
-    //c->serial->printf("%f %f\n\r", dbg_d_filtered, dbg_q_filtered);
+    c->serial->printf("%f %f %f %f %f %f\n\r", dbg_d_filtered, dbg_q_filtered, dbg_ref_d, dbg_ref_q, dbg_loop_d, dbg_loop_q);
 }
 
 void log(Context *c) {