Bayley Wang
/
priustroller_3
temp repo
Fork of priustroller_2 by
Diff: callbacks.cpp
- Revision:
- 29:cb03760ba9ea
- Parent:
- 27:846c08fb3697
- Child:
- 30:2b6d426f3bfc
--- a/callbacks.cpp Sat Mar 14 19:18:34 2015 +0000 +++ b/callbacks.cpp Sat Mar 14 23:42:46 2015 +0000 @@ -12,6 +12,7 @@ float I_b, I_c, angle, d_filtered, q_filtered, vd, vq; 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); @@ -68,11 +69,7 @@ } 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\n\r", dbg_angle, dbg_d_filtered, dbg_q_filtered); - int temp = TIM2->SR & 1; //this checks to see if the UIF (update interrupt flag) is set high. (page 287) - //c->serial->printf("%d %d %d %d %d\n\r", A0, A1, A2, PA_1, PA_4); - c->serial->printf("%d %d\n\r", current1, current2); + c->serial->printf("CR1:%x CR2:%x SMPR1:%x SMPR2:%x\n\r", ADC1->CR1, ADC1->CR2, ADC1->SMPR1, ADC1->SMPR2); } void log(Context *c) {