Diff: callbacks.cpp

Revision:

37:09373294ff22

Parent:

36:11766b5da6ed

Child:

38:232c51b6853f

--- a/callbacks.cpp	Thu Apr 16 04:08:47 2015 +0000
+++ b/callbacks.cpp	Thu Apr 16 07:12:36 2015 +0000
@@ -31,6 +31,8 @@
     dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered);
     dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered);
     
+    dbg_loop_d = vd = 0.0f;
+    dbg_loop_q = vq = c->user->throttle;
     /*
     
     if(c->user->throttle <= 0.1f){
@@ -49,6 +51,7 @@
     dbg_valpha = valpha;
     dbg_vbeta = vbeta;
     
+    dbg_dtc_b = ((-valpha + sqrt(3.0f) * vbeta) / 2.0f);
     c->modulator->Update(valpha, vbeta); 
 }
 
@@ -58,12 +61,13 @@
 }
 
 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 %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_angle);
-    //c->debugger->Write(1, dbg_q_filtered);
+    //c->debugger->Write(0, dbg_dtc_b);
+    //c->debugger->Write(1, dbg_dtc_b);
+    //c->debugger->Write(2, dbg_dtc_c);
 }
\ No newline at end of file