Diff: main.cpp

Revision:

4:9d37f163d64c

Parent:

3:10863117020c

--- a/main.cpp	Mon Jun 19 07:40:22 2017 +0000
+++ b/main.cpp	Mon Jun 19 08:24:44 2017 +0000
@@ -9,9 +9,16 @@
 #include "position_sensor_error.h"
 #include "cogging_compensation.h"
 #include "main.h"
+
 Ticker tickObject;
 
-#include <iostream>
+//#include <iostream>
+
+
+/*
+* Comment victor: this is defined in main.h
+* MODSERIAL pc(USBTX,USBRX);
+*/
 
 using namespace std;
 const int n = 1000;
@@ -98,21 +105,25 @@
 void printer(){
     int positie = GET_POSITION();
     positievec[q] = positie;
-    cout << positievec[q] << ",";
+    //cout << positievec[q] << ",";
+    pc.printf("%d,", positievec[q]);
     q = q+1;
+    if(q>=n)
+        q=0;
     }
      
 int main()
 {
     // Initialize system
     //initialiseer_prbs();
+    pc.baud(115200);
     initialize_io();
     calibrate_current_sensor();
     calibrate_position();
 
     for (int i = 0; i <= n; i++) {
         prbstest[i] = rand() % 2;
-        cout << prbstest[i] << ",";//"\r\n";
+        pc.printf("%d,", prbstest[i]);
         }
         
     while(z<=n){    
@@ -120,7 +131,8 @@
         //tickObject.attach_us(&printer, 100000);
         torque_control();
         printer();
-        cout << z << ";\r\n";
+        wait_ms(300);
+        pc.printf("%d;\r\n",z);
         z = z+1;
         wait_us(TORQUE_CONTROLLER_INTERVAL_US);
 
@@ -129,7 +141,7 @@
     //send_report.length = 16;
     //recv_report.length = 16;
 
-        cout << "\r\n";
+        //cout << "\r\n";
         /*
         for(int k=0; k <= n; k++) {
          status = prbstest[k];
@@ -147,7 +159,10 @@
             blink();
             }
         }*/
-    cout << positievec;
+    for(int i=0 ; i<n ; i++)
+    {
+        pc.printf("%d ",positievec[i]);
+    }
     
     while(1) {
         int32_t abspos = ABSPOS();
@@ -296,11 +311,11 @@
     // Impedance controller...
     if(prbstest[z] == 1){
         torque = -0.1;//-ZControl_K*0.00076699f*(ABSPOS()-ZControl_RefPos) - ZControl_B*speed - ZControl_I*acceleration;
-        cout << torque << ",";//"\r\n";
+        //cout << torque << ",";//"\r\n";
         }
     else if(prbstest[z] == 0){
         torque = 0.1;
-        cout << torque << ",";//"\r\n";
+        //cout << torque << ",";//"\r\n";
         }
 
     // Preprocess torque command