working-est copy with class-based code. still open loop
Fork of analoghalls6 by
Diff: statusupdater.cpp
- Revision:
- 7:76d6ceb23e0d
- Parent:
- 6:99ee0ce47fb2
diff -r 99ee0ce47fb2 -r 76d6ceb23e0d statusupdater.cpp --- a/statusupdater.cpp Wed Mar 04 15:33:32 2015 +0000 +++ b/statusupdater.cpp Thu Mar 05 11:02:54 2015 +0000 @@ -44,25 +44,24 @@ int last_slow = 0; for(;;) { + + #ifdef __DEBUG + pc->printf("%f",LutSin(_motor->angle)); + pc->printf("\n\r"); + #endif + if (_time - last_fast > fast_us) { - _motor->UpdateState(); _inverter->UpdateVbus(); last_fast = _time; - - pc->printf("%f %f %f %f %f\n\r", _motor->angle, _motor->I_c, _motor->I_b, test_alpha, test_beta); - //pc->printf("%f %f %f %f\n\r", _motor->angle); - } if (_time - last_slow > slow_us) { - _user->UpdateState(); _motor->UpdateTemp(); _inverter->UpdateTemp(); last_slow = _time; - - //pc->printf("%f %f\n\r", _inverter->va, _inverter->vb); } + } } \ No newline at end of file