Jorn Dokter / Mbed 2 deprecated TEB_branch2

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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

Diff: motorAndSensorControl.cpp

Revision:
39:8d8ff9a30cfc
Parent:
37:6602655a80f4
--- a/motorAndSensorControl.cpp	Thu Oct 10 15:42:26 2019 +0000
+++ b/motorAndSensorControl.cpp	Thu Oct 10 15:49:25 2019 +0000
@@ -118,5 +118,15 @@
         ::motorData.motor1.output.velocity = velocityMotor1;
         ::motorData.motor2.output.velocity = velocityMotor2;
         //::motorReturn.motor3.velocity = velocityMotor3;
+        
+     //debug Mode
+        if (motorData.debug == True)
+        {
+            pc.printf("Motor debug mode is on");
+            pc.printf("PWM motor 1 to 3: .2%f, .2%f, .2%f \r\n",motorData.motor1.input.PWM, motorData.motor2.input.PWM, motorData.motor3.input.PWM);
+            pc.printf("CalibrationCounts motor 1 to 3: %i, %i, %i \r\n",motorData.motor1.input.calibrationCounts, motorData.motor2.input.calibrationCounts, motorData.motor3.input.calibrationCounts);
+            pc.printf("Current counts motor 1 to 3: %i, %i, %i \r\n", motorData.motor1.output.counts, motorData.motorw.output.counts, motorData.motor3.output.counts);
+            pc.printf("Current Velocity motor 1 to 3: .3%f, .3%f, .3%f \r\n",);
+        }   
     
 }