Diff: callbacks.cpp

Revision:

54:e8d9bc885723

Parent:

53:ef62d7a958f2

Child:

55:f102d271e808

--- a/callbacks.cpp	Sat May 02 00:21:00 2015 +0000
+++ b/callbacks.cpp	Tue May 19 08:50:42 2015 +0000
@@ -13,10 +13,13 @@
     dbg_ib = I_b = c->motor->GetCurrentB();
     dbg_ic = I_c = c->motor->GetCurrentC();
     dbg_angle = angle = c->motor->GetPosition();
+    float speed_raw = c->motor->GetSpeed();
+    dbg_speed = c->filter_sp->Update(speed_raw);
     
     Clarke(-(I_b + I_c), I_b, &alpha, &beta);
     Parke(alpha, beta, angle, &d, &q);
     dbg_q_raw = q;
+    dbg_d_raw = d;
     
     dbg_d_filtered = d_filtered = c->filter_q->Update(q); //swapped  
     dbg_q_filtered = q_filtered = -c->filter_d->Update(d); //these and added a negative on this line. 
@@ -70,8 +73,8 @@
 }
 
 void log(Context *c) {
-    //c->debugger->Write(0, dbg_ref_q);
-    //c->debugger->Write(1, dbg_throttle);
-    //c->debugger->Write(2, dbg_q_filtered);
+    //c->debugger->Write(0, dbg_speed);
+    //c->debugger->Write(1, dbg_q_filtered);
+    //c->debugger->Write(2, dbg_ref_q);
     //c->debugger->Write(3, dbg_loop_q);
 }
\ No newline at end of file