Diff: callbacks.cpp

Revision:

13:79e247e54d78

Parent:

12:c35ad58f6620

Child:

15:c10d0aa3c0e1

--- a/callbacks.cpp	Sun Mar 08 09:02:59 2015 +0000
+++ b/callbacks.cpp	Mon Mar 09 01:40:43 2015 +0000
@@ -8,6 +8,7 @@
 
 #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;
@@ -15,6 +16,7 @@
     I_b = c->motor->GetCurrentB();
     I_c = c->motor->GetCurrentC();
     angle = c->motor->GetPosition();
+    c->dbg_angle = angle;
     
     Clarke(-(I_b + I_c), I_b, &alpha, &beta); //--switched to standard clarke transform
     Parke(alpha, beta, angle, &d, &q);
@@ -43,5 +45,5 @@
 }
 
 void debug(Context *c) {
-    c->serial->printf("%f %f\n\r", c->dbg_d_filtered, c->dbg_q_filtered);
+    //c->serial->printf("%f \n\r", c->dbg_angle);
 }
\ No newline at end of file