N K
/
GaNtroller
a fork of priustroller
Fork of priustroller_current by
Diff: callbacks.cpp
- Revision:
- 13:79e247e54d78
- Parent:
- 12:c35ad58f6620
- Child:
- 16:c10d0aa3c0e1
diff -r c35ad58f6620 -r 79e247e54d78 callbacks.cpp --- a/callbacks.cpp Sun Mar 08 09:02:59 2015 +0000 +++ b/callbacks.cpp Mon Mar 09 01:40:43 2015 +0000 @@ -8,6 +8,7 @@ #define dbg_d_filtered debug_registers[0] #define dbg_q_filtered debug_registers[1] +#define dbg_angle debug_registers[3] void fast(Context *c) { float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta; @@ -15,6 +16,7 @@ I_b = c->motor->GetCurrentB(); I_c = c->motor->GetCurrentC(); angle = c->motor->GetPosition(); + c->dbg_angle = angle; Clarke(-(I_b + I_c), I_b, &alpha, &beta); //--switched to standard clarke transform Parke(alpha, beta, angle, &d, &q); @@ -43,5 +45,5 @@ } void debug(Context *c) { - c->serial->printf("%f %f\n\r", c->dbg_d_filtered, c->dbg_q_filtered); + //c->serial->printf("%f \n\r", c->dbg_angle); } \ No newline at end of file