N K
/
GaNtroller
a fork of priustroller
Fork of priustroller_current by
Diff: callbacks.cpp
- Revision:
- 54:e8d9bc885723
- Parent:
- 53:ef62d7a958f2
- Child:
- 55:f102d271e808
diff -r ef62d7a958f2 -r e8d9bc885723 callbacks.cpp --- a/callbacks.cpp Sat May 02 00:21:00 2015 +0000 +++ b/callbacks.cpp Tue May 19 08:50:42 2015 +0000 @@ -13,10 +13,13 @@ dbg_ib = I_b = c->motor->GetCurrentB(); dbg_ic = I_c = c->motor->GetCurrentC(); dbg_angle = angle = c->motor->GetPosition(); + float speed_raw = c->motor->GetSpeed(); + dbg_speed = c->filter_sp->Update(speed_raw); Clarke(-(I_b + I_c), I_b, &alpha, &beta); Parke(alpha, beta, angle, &d, &q); dbg_q_raw = q; + dbg_d_raw = d; dbg_d_filtered = d_filtered = c->filter_q->Update(q); //swapped dbg_q_filtered = q_filtered = -c->filter_d->Update(d); //these and added a negative on this line. @@ -70,8 +73,8 @@ } void log(Context *c) { - //c->debugger->Write(0, dbg_ref_q); - //c->debugger->Write(1, dbg_throttle); - //c->debugger->Write(2, dbg_q_filtered); + //c->debugger->Write(0, dbg_speed); + //c->debugger->Write(1, dbg_q_filtered); + //c->debugger->Write(2, dbg_ref_q); //c->debugger->Write(3, dbg_loop_q); } \ No newline at end of file