File content as of revision 0:bac9c3a3a6ca:

#include "mbed.h"
#include "math.h"
#include "PositionSensor.h"
#include "FastPWM.h"
#include "Transforms.h"
#include "config.h"

FastPWM a(PWMA);
FastPWM b(PWMB);
FastPWM c(PWMC);
DigitalOut en(EN);

AnalogOut test(TEST_DAC);
AnalogIn Ia(IA);
AnalogIn Ib(IB);

PositionSensorEncoder pos(CPR, 0);

Serial pc(USBTX, USBRX);

using namespace Transforms;

void config_globals() {
    pc.baud(115200);
    
    a.period_us(200);
    b.period_us(200);
    c.period_us(200);
    a = 1.0f;
    b = 1.0f;
    c = 1.0f;
    
    en = 1;
}

void startup_msg() {
    pc.printf("%s\n\r\n\r", "FOC'ed in the Bot Rev A.");
    pc.printf("%s\n\r", "====Config Data====");
    pc.printf("Current Sensor Offset: %f mV\n\r", I_OFFSET);
    pc.printf("Current Sensor Scale: %f mv/A\n\r", I_SCALE);
    pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE);
    pc.printf("Loop KP: %f\n\r", KP);
    pc.printf("Loop KI: %f\n\r", KI);
    pc.printf("\n\r");
}    

void main_loop() {
    float p = pos.GetElecPosition() - POS_OFFSET + PI / 2;
    if (p < 0) p += 2 * PI;
    
    float pos_dac = 0.85f * p / (2 * PI) + 0.05f;
    
    float v_ia = Ia.read() * AVDD;
    float v_ib = Ib.read() * AVDD;
    
    float ia = (v_ia - I_OFFSET) / I_SCALE;
    float ib = (v_ia - I_OFFSET) / I_SCALE;
    
    test = pos_dac;
    
    set_dtc(a, 0.5f + 0.5f * cosf(p));
    set_dtc(b, 0.5f + 0.5f * cosf(p + 2 * PI / 3));
    set_dtc(c, 0.5f + 0.5f * cosf(p - 2 * PI / 3));
}
    
int main() {
    config_globals();
    startup_msg();
    
    Ticker loop;
    loop.attach_us(main_loop, 200);
    
    for (;;) {
    }
}