stock mbed AnalogReads current loop closed and working
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Diff: context.cpp
- Revision:
- 36:11766b5da6ed
- Parent:
- 33:e7b132029bae
diff -r 83cf9564bd0c -r 11766b5da6ed context.cpp --- a/context.cpp Mon Mar 16 15:40:07 2015 +0000 +++ b/context.cpp Thu Apr 16 04:08:47 2015 +0000 @@ -45,10 +45,11 @@ _qpidmin = pidmin; } -void Context::ConfigureThrottle(PinName throttle_pin, float min, float max) { +void Context::ConfigureThrottle(PinName throttle_pin, float min, float max, float th_filter_strength) { _throttle_pin = throttle_pin; _min = min; _max = max; + _th_filter_strength = th_filter_strength; } void Context::ConfigurePositionSensor(PinName pos_a_pin, PinName pos_b_pin, float cal1_a, float cal2_a, float cal1_b, float cal2_b, float offset) { @@ -108,6 +109,8 @@ reference = new SynchronousReferenceSynthesizer(_max_current); filter_d = new MeanFilter(_filter_strength); filter_q = new MeanFilter(_filter_strength); + filter_th = new MeanFilter(_th_filter_strength); + serial = new Serial(USBTX, USBRX); serial->baud(115200);