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derp
Diff: main.cpp
- Revision:
- 16:46703e957b30
- Parent:
- 15:8eb1dfbf0d41
- Child:
- 17:77e5b417e6ef
- Child:
- 18:1215f085b60f
- Child:
- 21:3bfff547c5e2
--- a/main.cpp Tue Apr 19 03:26:15 2016 +0000 +++ b/main.cpp Tue Apr 19 05:46:29 2016 +0000 @@ -42,13 +42,15 @@ DigitalIn throttle_in(PB_8); PositionSensorEncoder pos(CPR, 0); +Serial pc(USBTX, USBRX); int adval1, adval2; float ia, ib, ic, alpha, beta, q; double vq = 0.0, q_integral = 0.0, last_q = 0.0; -float throttle = 0.0f; -int edge_seen = 0, watchdog_divider = 0; +float throttle_scaler = 0.0f; + +int state = 0; extern "C" void TIM1_UP_TIM10_IRQHandler(void) { if (TIM1->SR & TIM_SR_UIF) { @@ -78,13 +80,13 @@ beta = 1 / sqrtf(3.0f) * u + 2 / sqrtf(3.0f) * v; q = -alpha * sin_p - beta * cos_p; - - float throttle_scaler; if (throttle_in.read() == 0) { + state = 0; throttle_scaler = 0.0f; en = 0; } else { + state = 1; throttle_scaler = 1.0f; en = 1; } @@ -184,6 +186,12 @@ throttle_in.mode(PullUp); + pc.baud(115200); + + pc.printf("%s\n\r", "THE DENTIST controller Rev. A"); + for (;;) { + pc.printf("%d %f\n\r", state, throttle_scaler); + wait_ms(100); } }