N K
/
GaNtroller
a fork of priustroller
Fork of priustroller_current by
Diff: callbacks.cpp
- Revision:
- 25:0003b824dd7d
- Parent:
- 24:f1ff9c7256b5
- Child:
- 27:846c08fb3697
diff -r f1ff9c7256b5 -r 0003b824dd7d callbacks.cpp --- a/callbacks.cpp Mon Mar 09 11:33:14 2015 +0000 +++ b/callbacks.cpp Tue Mar 10 17:47:08 2015 +0000 @@ -27,9 +27,14 @@ 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; - + */ + /* + vd = 0.05f; + vq = 0.95f; + */ InverseParke(vd, vq, angle, &valpha, &vbeta); c->modulator->Update(valpha, vbeta); @@ -40,7 +45,7 @@ } void debug(Context *c) { - //c->serial->printf("%f %f\n\r", dbg_d_filtered, dbg_q_filtered); + 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); } void log(Context *c) {