Diff: callbacks.cpp

Revision:

53:ef62d7a958f2

Parent:

50:16b43e8fe04f

Child:

54:e8d9bc885723

--- a/callbacks.cpp	Sun Apr 26 10:52:08 2015 +0000
+++ b/callbacks.cpp	Sat May 02 00:21:00 2015 +0000
@@ -16,6 +16,7 @@
     
     Clarke(-(I_b + I_c), I_b, &alpha, &beta);
     Parke(alpha, beta, angle, &d, &q);
+    dbg_q_raw = q;
     
     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. 
@@ -24,14 +25,16 @@
     //and that a positive vq command produced a reading of positive d axis torque.  
     //This may be the final step in aligning the handedness of the reference and the output.
     
+    c->user->UpdateThrottle();
+    c->user->throttle = c->filter_th->Update(c->user->throttle);
     c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q);
     
     dbg_ref_d = ref_d;
     dbg_ref_q = ref_q;
     dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered);
     dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered);
-    
-    
+
+    dbg_throttle = c->user->throttle;
     
     if(c->user->throttle <= 0.05f){  //disable inverter - prevent whining, allow for safe precharge.
         c->inverter->Disable();
@@ -55,7 +58,7 @@
 }
 
 void slow(Context *c) {
-    c->user->UpdateThrottle();
+    //c->user->UpdateThrottle();
     //c->user->throttle = c->filter_th->Update(c->user->throttle);
 }
 
@@ -67,6 +70,8 @@
 }
 
 void log(Context *c) {
-    //c->debugger->Write(0, dbg_angle);
-    //c->debugger->Write(1, dbg_q_filtered);
+    //c->debugger->Write(0, dbg_ref_q);
+    //c->debugger->Write(1, dbg_throttle);
+    //c->debugger->Write(2, dbg_q_filtered);
+    //c->debugger->Write(3, dbg_loop_q);
 }
\ No newline at end of file