File content as of revision 47:f5b1ff02c656:

#include "includes.h"
#include "transforms.h"
#include "filters.h"
#include "context.h"
#include "core.h"
#include "meta.h"
#include "sensors.h"
#include "callbacks.h"

int main() { 
    Context *context = new Context(false);
    context->ConfigureOutputs(D13, D3, D6, D2);
    context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f);
    context->ConfigureIdPidController(0.00001f, 0.0f, 0.0f, 1.0f, -1.0f);
    context->ConfigureIqPidController(0.00001f, 0.0f, 0.0f, 1.0f, -1.0f);
    context->ConfigureThrottle(A0, 0.9f, 2.5f, 0.8f);  //last term is LPF strength
    context->ConfigurePositionSensor(A3, A4, 0.366f, 0.655f, 0.355f, 0.626f, 205.0f);
    context->ConfigureReference(80.0f);  // max phase current
    //context->ConfigureDebugger(2, 4000);
    context->Start();
    for (;;) {
        fast_test2(context);
        wait_us(200);
    }
    /*
    context->AttachCallBack(&fast, 5000);
    context->AttachCallBack(&fast_test, 5000);
    context->AttachCallBack(&slow, 20);
    context->AttachCallBack(&debug, 10);
    context->AttachCallBack(&log, 500);
    context->Start();
    */
}