Diff: callbacks.cpp

Revision:

36:11766b5da6ed

Parent:

35:83cf9564bd0c

--- a/callbacks.cpp	Mon Mar 16 15:40:07 2015 +0000
+++ b/callbacks.cpp	Thu Apr 16 04:08:47 2015 +0000
@@ -23,7 +23,7 @@
     //The necessary changes were analytically determined by observing that a postive vd command corresponded to a reading of negative q axis torque
     //and that a positive vq command produced a reading of positive d axis torque.  
     //This may be the final step in aligning the handedness of the reference and the output.
-
+    
     c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q);
     
     dbg_ref_d = ref_d;
@@ -31,6 +31,19 @@
     dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered);
     dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered);
     
+    /*
+    
+    if(c->user->throttle <= 0.1f){
+        float ramp = (c->user->throttle*10.0f)*(c->user->throttle*10.0f);
+        vd = ramp*vd;
+        vq = ramp*vq;
+        }
+    
+    */
+        
+    dbg_loop_d = vd;
+    dbg_loop_q = vq;
+        
     InverseParke(vd, vq, angle, &valpha, &vbeta);
     
     dbg_valpha = valpha;
@@ -41,14 +54,16 @@
 
 void slow(Context *c) {
     c->user->UpdateThrottle();
+    //c->user->throttle = c->filter_th->Update(c->user->throttle);
 }
 
 void debug(Context *c) {
-    //c->serial->printf("%f %f %f %f %f %f\n\r", dbg_d_filtered, dbg_q_filtered, dbg_ref_d, dbg_ref_q, dbg_loop_d, dbg_loop_q);
-    //c->serial->printf("%f %f %f %f\n\r", dbg_d_filtered, dbg_q_filtered);
+    c->serial->printf("%f %f %f %f %f %f\n\r", dbg_d_filtered, dbg_q_filtered, dbg_ref_d, dbg_ref_q, dbg_loop_d, dbg_loop_q);
+    //c->serial->printf("%f\n\r", dbg_angle);
+    //c->serial->printf("%f\n\r", c->user->throttle);
 }
 
 void log(Context *c) {
-    //c->debugger->Write(0, dbg_d_filtered);
+    //c->debugger->Write(0, dbg_angle);
     //c->debugger->Write(1, dbg_q_filtered);
 }
\ No newline at end of file