Diff: BREMS/BREMSConfig.cpp

Revision:

52:fd3d8df99287

Parent:

47:1c9868e226d0

Child:

56:c681001dfa46

--- a/BREMS/BREMSConfig.cpp	Sun Jan 22 05:23:01 2017 +0000
+++ b/BREMS/BREMSConfig.cpp	Wed Jan 25 02:08:10 2017 +0000
@@ -96,6 +96,7 @@
     pc->printf("Resolver lobes: %d\n\r", (int) RESOLVER_LOBES);
     pc->printf("Loop KP: %f\n\r", KP);
     pc->printf("Loop KI: %f\n\r", KI);
+    pc->printf("Integral damping factor: %f\n\r", 1.0f - INTEGRAL_DECAY);
     pc->printf("Ia offset: %f mV\n\r", read->ia_supp_offset);
     pc->printf("Ib offset: %f mV\n\r", read->ib_supp_offset);
     pc->printf("\n\r");
@@ -117,6 +118,11 @@
     read->ib_supp_offset = 0.0f;
     read->p_mech = io->pos->GetMechPosition();
     
+    BREMSConfigRegisters(io);
+    wait_ms(250);
+    BREMSZeroCurrent(read);
+    BREMSStartupMsg(read, io->pc);
+    
     control->d_integral = 0.0f;
     control->q_integral = 0.0f;
     control->d_filtered = 0.0f;
@@ -125,11 +131,6 @@
     control->last_q = 0.0f;
     control->d_ref = 0.0f;
     control->q_ref = 0.0f;
-    
-    BREMSConfigRegisters(io);
-    wait_ms(250);
-    BREMSZeroCurrent(read);
-    BREMSStartupMsg(read, io->pc);
 
     io->en->write(1);
 }
\ No newline at end of file