N K
/
GaNtroller
a fork of priustroller
Fork of priustroller_current by
Diff: callbacks.cpp
- Revision:
- 21:da41c08e51bc
- Parent:
- 17:fd6771a6685a
- Child:
- 22:46d164aa4f1c
diff -r 3a7eae543153 -r da41c08e51bc callbacks.cpp --- a/callbacks.cpp Mon Mar 09 03:36:59 2015 +0000 +++ b/callbacks.cpp Mon Mar 09 05:07:49 2015 +0000 @@ -8,25 +8,22 @@ void fast(Context *c) { float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta; - float I_b, I_c, angle; + float I_b, I_c, angle, d_filtered, q_filtered, vd, vq; I_b = c->motor->GetCurrentB(); I_c = c->motor->GetCurrentC(); angle = c->motor->GetPosition(); dbg_angle = angle; - + Clarke(-(I_b + I_c), I_b, &alpha, &beta); //--switched to standard clarke transform Parke(alpha, beta, angle, &d, &q); - float d_filtered = c->filter_d->Update(d); - float q_filtered = c->filter_q->Update(q); //--was Update(d), not sure if my typo or orignal - - dbg_d_filtered = d_filtered; - dbg_q_filtered = q_filtered; + d_filtered = c->filter_d->Update(d); + q_filtered = c->filter_q->Update(q); //--was Update(d), not sure if my typo or orignal c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q); - - float vd = c->pid_d->Update(ref_d, d_filtered); - float vq = c->pid_q->Update(ref_q, q_filtered); + + vd = c->pid_d->Update(ref_d, d_filtered); + vq = c->pid_q->Update(ref_q, q_filtered); vd = 0.0f; vq = c->user->throttle; @@ -41,5 +38,5 @@ } void debug(Context *c) { - c->serial->printf("%f \n\r", dbg_angle); + c->serial->printf("%f %f %f %f\n\r", dbg_angle, dbg_dtcA, dbg_dtcB, dbg_dtcC); } \ No newline at end of file