Diff: callbacks.cpp

Revision:

12:c35ad58f6620

Parent:

11:dccbaa9274c5

Child:

13:79e247e54d78

--- a/callbacks.cpp	Sun Mar 08 08:37:38 2015 +0000
+++ b/callbacks.cpp	Sun Mar 08 09:02:59 2015 +0000
@@ -6,6 +6,9 @@
 #include "meta.h"
 #include "sensors.h"
 
+#define dbg_d_filtered debug_registers[0]
+#define dbg_q_filtered debug_registers[1]
+
 void fast(Context *c) {
     float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta;
     float I_b, I_c, angle;
@@ -13,11 +16,14 @@
     I_c = c->motor->GetCurrentC();
     angle = c->motor->GetPosition();
     
-    Clarke(-(I_b + I_c), I_b, &alpha, &beta);
+    Clarke(-(I_b + I_c), I_b, &alpha, &beta); //--switched to standard clarke transform
     Parke(alpha, beta, angle, &d, &q);
     
     float d_filtered = c->filter_d->Update(d);
-    float q_filtered = c->filter_q->Update(d);
+    float q_filtered = c->filter_q->Update(q); //--was Update(d), not sure if my typo or orignal
+    
+    c->dbg_d_filtered = d_filtered;
+    c->dbg_q_filtered = q_filtered;
 
     c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q);
     
@@ -37,4 +43,5 @@
 }
 
 void debug(Context *c) {
+    c->serial->printf("%f %f\n\r", c->dbg_d_filtered, c->dbg_q_filtered);
 }
\ No newline at end of file