N K
/
GaNtroller
a fork of priustroller
Fork of priustroller_current by
Diff: callbacks.cpp
- Revision:
- 37:09373294ff22
- Parent:
- 36:11766b5da6ed
- Child:
- 38:232c51b6853f
diff -r 11766b5da6ed -r 09373294ff22 callbacks.cpp --- a/callbacks.cpp Thu Apr 16 04:08:47 2015 +0000 +++ b/callbacks.cpp Thu Apr 16 07:12:36 2015 +0000 @@ -31,6 +31,8 @@ dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered); dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered); + dbg_loop_d = vd = 0.0f; + dbg_loop_q = vq = c->user->throttle; /* if(c->user->throttle <= 0.1f){ @@ -49,6 +51,7 @@ dbg_valpha = valpha; dbg_vbeta = vbeta; + dbg_dtc_b = ((-valpha + sqrt(3.0f) * vbeta) / 2.0f); c->modulator->Update(valpha, vbeta); } @@ -58,12 +61,13 @@ } 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 %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\n\r", dbg_angle); //c->serial->printf("%f\n\r", c->user->throttle); } void log(Context *c) { - //c->debugger->Write(0, dbg_angle); - //c->debugger->Write(1, dbg_q_filtered); + //c->debugger->Write(0, dbg_dtc_b); + //c->debugger->Write(1, dbg_dtc_b); + //c->debugger->Write(2, dbg_dtc_c); } \ No newline at end of file