Diff: callbacks.cpp

Revision:

24:f1ff9c7256b5

Parent:

22:46d164aa4f1c

Child:

25:0003b824dd7d

--- a/callbacks.cpp	Mon Mar 09 08:28:22 2015 +0000
+++ b/callbacks.cpp	Mon Mar 09 11:33:14 2015 +0000
@@ -5,25 +5,27 @@
 #include "core.h"
 #include "meta.h"
 #include "sensors.h"
+#include "debug.h"
 
 void fast(Context *c) {
     float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta;
     float I_b, I_c, angle, d_filtered, q_filtered, vd, vq;
-    I_b = c->motor->GetCurrentB();
-    I_c = c->motor->GetCurrentC();
-    angle = c->motor->GetPosition();
-    dbg_angle = angle;
-
-    Clarke(-(I_b + I_c), I_b, &alpha, &beta); //--switched to standard clarke transform
+    dbg_ib = I_b = c->motor->GetCurrentB();
+    dbg_ic = I_c = c->motor->GetCurrentC();
+    dbg_angle = angle = c->motor->GetPosition();
+    
+    Clarke(-(I_b + I_c), I_b, &alpha, &beta);
     Parke(alpha, beta, angle, &d, &q);
     
-    d_filtered = c->filter_d->Update(d);
-    q_filtered = c->filter_q->Update(q); //--was Update(d), not sure if my typo or orignal
+    dbg_d_filtered = d_filtered = c->filter_d->Update(d);
+    dbg_q_filtered = q_filtered = c->filter_q->Update(q);
 
     c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q);
-
-    vd = c->pid_d->Update(ref_d, d_filtered);
-    vq = c->pid_q->Update(ref_q, q_filtered);
+    
+    dbg_ref_d = ref_d;
+    dbg_ref_q = ref_q;
+    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;
@@ -38,5 +40,10 @@
 }
 
 void debug(Context *c) {
-    //c->serial->printf("%f %f %f %f %f %f\n\r", dbg_angle, dbg_dtcA, dbg_dtcB, dbg_dtcC, dbg_t1, dbg_t2);
+    //c->serial->printf("%f %f\n\r", dbg_d_filtered, dbg_q_filtered);
+}
+
+void log(Context *c) {
+    //c->debugger->Write(0, dbg_ib);
+    //c->debugger->Write(1, dbg_ic);
 }
\ No newline at end of file