stock mbed AnalogReads current loop closed and working
Fork of priustroller_2 by
Diff: callbacks.cpp
- Revision:
- 17:fd6771a6685a
- Parent:
- 16:c10d0aa3c0e1
- Child:
- 21:da41c08e51bc
--- a/callbacks.cpp Mon Mar 09 02:40:36 2015 +0000 +++ b/callbacks.cpp Mon Mar 09 03:05:23 2015 +0000 @@ -6,17 +6,13 @@ #include "meta.h" #include "sensors.h" -#define dbg_d_filtered debug_registers[0] -#define dbg_q_filtered debug_registers[1] -#define dbg_angle debug_registers[3] - void fast(Context *c) { float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta; float I_b, I_c, angle; I_b = c->motor->GetCurrentB(); I_c = c->motor->GetCurrentC(); angle = c->motor->GetPosition(); - c->dbg_angle = angle; + dbg_angle = angle; Clarke(-(I_b + I_c), I_b, &alpha, &beta); //--switched to standard clarke transform Parke(alpha, beta, angle, &d, &q); @@ -24,8 +20,8 @@ float d_filtered = c->filter_d->Update(d); float q_filtered = c->filter_q->Update(q); //--was Update(d), not sure if my typo or orignal - c->dbg_d_filtered = d_filtered; - c->dbg_q_filtered = q_filtered; + dbg_d_filtered = d_filtered; + dbg_q_filtered = q_filtered; c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q); @@ -45,5 +41,5 @@ } void debug(Context *c) { - serial->printf("%f \n\r", c->dbg_angle); + c->serial->printf("%f \n\r", dbg_angle); } \ No newline at end of file