Bayley Wang
/
priustroller_3
temp repo
Fork of priustroller_2 by
Diff: callbacks.cpp
- Revision:
- 32:4e1a223fad52
- Parent:
- 30:2b6d426f3bfc
- Child:
- 33:e7b132029bae
--- a/callbacks.cpp Sun Mar 15 02:21:32 2015 +0000 +++ b/callbacks.cpp Mon Mar 16 02:43:19 2015 +0000 @@ -55,8 +55,8 @@ vq = c->user->throttle; */ - vd = 0.05f; - vq = 0.95f; + vd = 0.0f; + vq = 1.0f; InverseParke(vd, vq, angle, &valpha, &vbeta); @@ -70,11 +70,14 @@ void debug(Context *c) { //c->serial->printf("CR1:%x CR2:%x SMPR1:%x SMPR2:%x\n\r", ADC1->CR1, ADC1->CR2, ADC1->SMPR1, ADC1->SMPR2); - c->serial->printf("%f %f %f %d %d\n\r",dbg_angle, dbg_ib,dbg_ic, channel_ib, channel_ic); + //c->serial->printf("%f %f %f %d %d\n\r",dbg_angle, dbg_ib,dbg_ic, channel_ib, channel_ic); //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); + // c->serial->printf("%f %f %f\n\r", dbg_angle, dbg_d_filtered, dbg_q_filtered); } void log(Context *c) { + //c->debugger->Write(0, dbg_angle); + //c->debugger->Write(1, 0); //c->debugger->Write(0, dbg_ib); //c->debugger->Write(1, dbg_ic); } \ No newline at end of file