Diff: callbacks.cpp

Revision:

50:16b43e8fe04f

Parent:

49:0603121a0538

Child:

52:4d4b2b3ef8dc

Child:

53:ef62d7a958f2

--- a/callbacks.cpp	Tue Apr 21 03:52:08 2015 +0000
+++ b/callbacks.cpp	Fri Apr 24 16:19:29 2015 +0000
@@ -31,15 +31,17 @@
     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;
+    if(c->user->throttle <= 0.05f){  //disable inverter - prevent whining, allow for safe precharge.
+        c->inverter->Disable();
+        c->pid_d->ZeroIntegrator();
+        c->pid_q->ZeroIntegrator();
         }
+    else {
+        c->inverter->Enable();
+    }
     
-    */
         
     dbg_loop_d = vd;
     dbg_loop_q = vq;
@@ -61,7 +63,7 @@
     //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);
-    c->serial->printf("%f %f\n\r", dbg_ib, dbg_ic);
+    //c->serial->printf("%f %f\n\r", dbg_ib, dbg_ic);
 }
 
 void log(Context *c) {