Diff: callbacks.cpp

Revision:

38:232c51b6853f

Parent:

37:09373294ff22

Child:

39:6f3d08745cd9

--- a/callbacks.cpp	Thu Apr 16 07:12:36 2015 +0000
+++ b/callbacks.cpp	Thu Apr 16 21:57:38 2015 +0000
@@ -32,29 +32,41 @@
     dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered);
     
     dbg_loop_d = vd = 0.0f;
-    dbg_loop_q = vq = c->user->throttle;
+    dbg_loop_q = vq = c->user->throttle / 2.0f;
+
     /*
-    
     if(c->user->throttle <= 0.1f){
         float ramp = (c->user->throttle*10.0f)*(c->user->throttle*10.0f);
         vd = ramp*vd;
         vq = ramp*vq;
-        }
-    
-    */
+    }    
         
     dbg_loop_d = vd;
     dbg_loop_q = vq;
+    */
         
     InverseParke(vd, vq, angle, &valpha, &vbeta);
     
     dbg_valpha = valpha;
     dbg_vbeta = vbeta;
     
-    dbg_dtc_b = ((-valpha + sqrt(3.0f) * vbeta) / 2.0f);
     c->modulator->Update(valpha, vbeta); 
 }
 
+void fast_test(Context *c) {
+    float angle, angle120, angle240;
+    angle = c->motor->GetPosition();
+    angle120 = angle + 120.0f;
+    if (angle120 >= 360.0f) angle120 -= 360.0f;
+    if (angle120 < 0.0f) angle120 += 360.0f;
+    angle240 = angle -120.0f;
+    if (angle120 >= 360.0f) angle240 -= 360.0f;
+    if (angle120 < 0.0f) angle240 += 360.0f;
+    c->inverter->SetDtcA(0.5f + 0.5f * FastSin(angle));
+    c->inverter->SetDtcB(0.5f + 0.5f * FastSin(angle120));
+    c->inverter->SetDtcC(0.5f + 0.5f * FastSin(angle240));
+}
+
 void slow(Context *c) {
     c->user->UpdateThrottle();
     //c->user->throttle = c->filter_th->Update(c->user->throttle);
@@ -68,6 +80,7 @@
 
 void log(Context *c) {
     //c->debugger->Write(0, dbg_dtc_b);
+    //c->debugger->Write(1, dbg_q_filtered);
     //c->debugger->Write(1, dbg_dtc_b);
     //c->debugger->Write(2, dbg_dtc_c);
 }
\ No newline at end of file