Bayley Wang
/
priustroller_3
temp repo
Fork of priustroller_2 by
Diff: callbacks.cpp
- Revision:
- 34:bfe180de813a
- Parent:
- 33:e7b132029bae
- Child:
- 35:83cf9564bd0c
--- a/callbacks.cpp Mon Mar 16 03:09:48 2015 +0000 +++ b/callbacks.cpp Mon Mar 16 04:58:35 2015 +0000 @@ -17,8 +17,12 @@ Clarke(-(I_b + I_c), I_b, &alpha, &beta); Parke(alpha, beta, angle, &d, &q); - dbg_d_filtered = d_filtered = c->filter_d->Update(d); - dbg_q_filtered = q_filtered = c->filter_q->Update(q); + dbg_d_filtered = d_filtered = c->filter_q->Update(q); //swapped + dbg_q_filtered = q_filtered = -c->filter_d->Update(d); //these and added a negative on this line. + + //The necessary changes were analytically determined by observing that a postive vd command corresponded to a reading of negative q axis torque + //and that a positive vq command produced a reading of positive d axis torque. + //This may be the final step in aligning the handedness of the reference and the output. c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q); @@ -27,15 +31,10 @@ 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; - */ + InverseParke(vd, vq, angle, &valpha, &vbeta); - vd = 0.05f; - vq = 0.95f; - - InverseParke(vd, vq, angle, &valpha, &vbeta); + dbg_valpha = valpha; + dbg_vbeta = vbeta; c->modulator->Update(valpha, vbeta); } @@ -46,9 +45,10 @@ void debug(Context *c) { //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 %f\n\r", dbg_d_filtered, dbg_q_filtered); } void log(Context *c) { - c->debugger->Write(0, dbg_d_filtered); - c->debugger->Write(1, dbg_q_filtered); + //c->debugger->Write(0, dbg_loop_d); + //c->debugger->Write(1, dbg_loop_q); } \ No newline at end of file