Diff: main.cpp

Revision:

37:71adabab284a

Parent:

35:132413ec3d65

Child:

38:a3713a09c828

diff -r 132413ec3d65 -r 71adabab284a main.cpp
--- a/main.cpp	Mon Mar 18 19:22:27 2019 +0000
+++ b/main.cpp	Mon Mar 18 20:04:34 2019 +0000
@@ -92,7 +92,7 @@
         volatile uint8_t cmdIndx;
         volatile uint8_t inCharQIdx;
     
-        volatile uint32_t motorPower; // motor toque
+        volatile float motorPower; // motor toque
         volatile float targetVel;
         volatile float targetRot;
     
@@ -358,7 +358,7 @@
     
         Thread t_motor_ctrl;    // Thread for motor Control
         
-        uint32_t MAXPWM;
+        float MAXPWM;
     
     public:
     
@@ -494,7 +494,7 @@
             int32_t locMotorPos;                                //Local copy of motor position
             static int32_t oldMotorPos = 0;                     //Old motor position used for calculations
             static uint8_t motorCtrlCounter = 0;                //Counter to be reset every 10 iterations to get velocity calculation in seconds
-            int32_t torque;                                     //Local variable to set motor torque
+            float torque;                                     //Local variable to set motor torque
             float sError;                                       //Velocity error between target and reality
             float rError;                                       //Rotation error between target and reality
             static float rErrorOld;                             //Old rotation error used for calculation
@@ -565,7 +565,8 @@
 
                 pwmCtrl.pulsewidth(torque);
                 p_comm->motorPower = torque;                                        //Lastly, update global variable motorPower which is updated by interrupt        
-
+                p_comm->pc.printf("%f, %i, %i \r", torque, Ys, Yr);
+                //p_comm->pc.printf("%u,%u,%u,%u. %.6i \r", iterElementMax, cpyStateCount[0],cpyStateCount[1],cpyStateCount[2], (totalDegrees*10));
             }
         }