Diff: callbacks.cpp

Revision:

27:846c08fb3697

Parent:

25:0003b824dd7d

Child:

29:cb03760ba9ea

--- a/callbacks.cpp	Tue Mar 10 17:51:38 2015 +0000
+++ b/callbacks.cpp	Sat Mar 14 18:51:36 2015 +0000
@@ -17,10 +17,32 @@
     Clarke(-(I_b + I_c), I_b, &alpha, &beta);
     Parke(alpha, beta, angle, &d, &q);
     
-    dbg_d_filtered = d_filtered = c->filter_d->Update(d);
-    dbg_q_filtered = q_filtered = c->filter_q->Update(q);
+    dbg_ialpha = alpha;
+    dbg_ibeta = beta;
+    
+    d_filtered = c->filter_d->Update(d);
+    q_filtered = c->filter_q->Update(q);
+    
+    /*
+    
+    //these envelope d and q about 0.  the envelope looks like this:
+    // X= -1 0 1 
+    // ____| | |____  
+    //     \___/      
+    if(d_filtered < 1.0f & d_filtered > -1.0f) d_filtered = 0.0f;
+    if(d_filtered < 2.0f & d_filtered >= 1.0f) d_filtered = (d_filtered-1.0f)*d_filtered;
+    if(d_filtered > -2.0f & d_filtered <= -1.0f) d_filtered = (-d_filtered-1.0f)*d_filtered;
+    
+    if(q_filtered < 1.0f & q_filtered > -1.0f) q_filtered = 0.0f;
+    if(q_filtered < 2.0f & q_filtered >= 1.0f) q_filtered = (q_filtered-1.0f)*q_filtered;
+    if(q_filtered > -2.0f & q_filtered <= -1.0f) q_filtered = (-q_filtered-1.0f)*q_filtered;
+    */
+    
+    dbg_d_filtered = d_filtered;
+    dbg_q_filtered = q_filtered;
+    
 
-    c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q);
+    c->reference->GetReference(angle, -c->user->throttle, &ref_d, &ref_q);
     
     dbg_ref_d = ref_d;
     dbg_ref_q = ref_q;
@@ -31,10 +53,11 @@
     vd = 0.0f;
     vq = c->user->throttle;
     */
-    /*
+    
     vd = 0.05f;
     vq = 0.95f;
-    */
+    
+
     InverseParke(vd, vq, angle, &valpha, &vbeta);
     
     c->modulator->Update(valpha, vbeta); 
@@ -45,7 +68,11 @@
 }
 
 void debug(Context *c) {
-    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 %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);
+    int temp = TIM2->SR & 1;  //this checks to see if the UIF (update interrupt flag) is set high.  (page 287)
+    //c->serial->printf("%d %d %d %d %d\n\r", A0, A1, A2, PA_1, PA_4); 
+    c->serial->printf("%d %d\n\r", current1, current2); 
 }
 
 void log(Context *c) {