Diff: main.cpp

Revision:

33:e7b132029bae

Parent:

32:4e1a223fad52

Child:

34:bfe180de813a

--- a/main.cpp	Mon Mar 16 02:43:19 2015 +0000
+++ b/main.cpp	Mon Mar 16 03:09:48 2015 +0000
@@ -6,28 +6,20 @@
 #include "meta.h"
 #include "sensors.h"
 #include "callbacks.h"
-#include "isr.h"
-
-volatile unsigned short global_ib, global_ic;
-uint32_t channel_ib, channel_ic;
 
 int main() { 
-    NVIC_EnableIRQ(TIM2_IRQn);
-    NVIC_SetVector(TIM2_IRQn, (uint32_t)TIM2_IRQn_Handler);
-        
     Context *context = new Context();
     context->ConfigureOutputs(D6, D13, D3, D8);
-    context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f); 
-    context->ConfigureIdPidController(0.0001f, 0.0f, 0.0f, 5.0f, -5.0f);
-    context->ConfigureIqPidController(0.00001f, 0.1f, 0.0f, 5.0f, -5.0f);
+    context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f);
+    context->ConfigureIdPidController(0.01f, 0.8f, 0.0f, 2.0f, -2.0f);
+    context->ConfigureIqPidController(0.01f, 0.8f, 0.0f, 2.0f, -2.0f);
     context->ConfigureThrottle(A0, 0.8f, 3.0f);
-    context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f);  // I guess this configures the ADCs or something 
+    context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f);
     context->ConfigureReference(5.0f);
     context->ConfigureDebugger(2, 1000);
     context->AttachCallBack(&fast, 5000);
     context->AttachCallBack(&slow, 10);
     context->AttachCallBack(&debug, 10);
     context->AttachCallBack(&log, 500);
-    context->InitData();
     context->Start();
 }