Diff: callbacks.cpp

Revision:

32:4e1a223fad52

Parent:

30:2b6d426f3bfc

Child:

33:e7b132029bae

--- a/callbacks.cpp	Sun Mar 15 02:21:32 2015 +0000
+++ b/callbacks.cpp	Mon Mar 16 02:43:19 2015 +0000
@@ -55,8 +55,8 @@
     vq = c->user->throttle;
     */
     
-    vd = 0.05f;
-    vq = 0.95f;
+    vd = 0.0f;
+    vq = 1.0f;
     
 
     InverseParke(vd, vq, angle, &valpha, &vbeta);
@@ -70,11 +70,14 @@
 
 void debug(Context *c) {
     //c->serial->printf("CR1:%x CR2:%x SMPR1:%x SMPR2:%x\n\r", ADC1->CR1, ADC1->CR2, ADC1->SMPR1, ADC1->SMPR2);
-    c->serial->printf("%f %f %f %d %d\n\r",dbg_angle, dbg_ib,dbg_ic, channel_ib, channel_ic);
+    //c->serial->printf("%f %f %f %d %d\n\r",dbg_angle, dbg_ib,dbg_ic, channel_ib, channel_ic);
     //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\n\r", dbg_angle, dbg_d_filtered, dbg_q_filtered);
 }
 
 void log(Context *c) {
+    //c->debugger->Write(0, dbg_angle);
+    //c->debugger->Write(1, 0);
     //c->debugger->Write(0, dbg_ib);
     //c->debugger->Write(1, dbg_ic);
 }
\ No newline at end of file