Bayley Wang
/
priustroller_3
temp repo
Fork of priustroller_2 by
Diff: context.cpp
- Revision:
- 31:86b87913d8e1
- Parent:
- 30:2b6d426f3bfc
- Child:
- 33:e7b132029bae
diff -r 2b6d426f3bfc -r 86b87913d8e1 context.cpp --- a/context.cpp Sun Mar 15 01:45:22 2015 +0000 +++ b/context.cpp Sun Mar 15 02:21:32 2015 +0000 @@ -115,30 +115,30 @@ filter_d = new MeanFilter(_filter_strength); filter_q = new MeanFilter(_filter_strength); - wait_us(100000); + wait(1); - float ib_mean, ic_mean; - TIM2->DIER = 0x0000; - for (int i = 0; i < 1000; i++) { - TIM2->SR &= ~1; - ADC1->SQR1 &= ~ADC_SQR1_L; + double ib_mean, ic_mean; + TIM2->DIER = 0; + for (int i = 0; i < 100; i++) { ADC1->SQR3 = 0; ADC1->SQR3 |= channel_ib; ADC1->CR2 |= ADC_CR2_SWSTART; while ((ADC1->SR & 2) == 0){} - ib_mean += (float) ADC1->DR / 4095.0f; + ib_mean += (float) ADC1->DR; ADC1->SQR3 = 0; ADC1->SQR3 |= channel_ic; ADC1->CR2 |= ADC_CR2_SWSTART; while ((ADC1->SR & 2) == 0){} - ic_mean += (float) ADC1->DR / 4095.0f; + ic_mean += (float) ADC1->DR; } - TIM2->DIER = 0x0001; - ib_mean /= 1000.0f; - ic_mean /= 1000.0f; + TIM2->DIER = 1; + ib_mean /= 100.0f; + ib_mean /= 4095.0f; + ic_mean /= 100.0f; + ic_mean /= 4095.0f; - motor->InitSensors(ib_mean, ic_mean, _scale); + motor->InitSensors((float) ib_mean, (float) ic_mean, _scale); debugger = new BufferedDebugger(this, _debugger_channels, _debugger_size); }