Diff: callbacks.cpp

Revision:

33:e7b132029bae

Parent:

32:4e1a223fad52

Child:

34:bfe180de813a

--- a/callbacks.cpp	Mon Mar 16 02:43:19 2015 +0000
+++ b/callbacks.cpp	Mon Mar 16 03:09:48 2015 +0000
@@ -12,38 +12,15 @@
     float I_b, I_c, angle, d_filtered, q_filtered, vd, vq;
     dbg_ib = I_b = c->motor->GetCurrentB();
     dbg_ic = I_c = c->motor->GetCurrentC();
-    
     dbg_angle = angle = c->motor->GetPosition();
     
     Clarke(-(I_b + I_c), I_b, &alpha, &beta);
     Parke(alpha, beta, angle, &d, &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;
-    
+    dbg_d_filtered = d_filtered = c->filter_d->Update(d);
+    dbg_q_filtered = q_filtered = c->filter_q->Update(q);
 
-    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;
@@ -55,10 +32,9 @@
     vq = c->user->throttle;
     */
     
-    vd = 0.0f;
-    vq = 1.0f;
+    vd = 0.05f;
+    vq = 0.95f;
     
-
     InverseParke(vd, vq, angle, &valpha, &vbeta);
     
     c->modulator->Update(valpha, vbeta); 
@@ -69,15 +45,10 @@
 }
 
 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 %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);
+    c->debugger->Write(0, dbg_d_filtered);
+    c->debugger->Write(1, dbg_q_filtered);
 }
\ No newline at end of file