Aditya Mehrotra / SPIne_Plus_DYNO

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Dependencies:   mbed-dev

Diff: main.cpp

Revision:
10:42438194e82b
Parent:
9:16a550d36425
Child:
12:b203f3ae57d0
--- a/main.cpp	Fri Apr 09 20:41:24 2021 +0000
+++ b/main.cpp	Tue Apr 13 19:11:12 2021 +0000
@@ -608,6 +608,9 @@
     spi_data.qd_1s[0] = g1_state.a1.v;
     spi_data.qd_2s[0] = g1_state.a2.v;
     spi_data.qd_3s[0] = g1_state.a3.v;
+    spi_data.tau_1s[0] = g1_state.a1.t;
+    spi_data.tau_2s[0] = g1_state.a2.t;
+    spi_data.tau_3s[0] = g1_state.a3.t;
     //BUS 2 DATA
     spi_data.q_1s[1] = g2_state.a1.p;
     spi_data.q_2s[1] = g2_state.a2.p;
@@ -615,6 +618,9 @@
     spi_data.qd_1s[1] = g2_state.a1.v;
     spi_data.qd_2s[1] = g2_state.a2.v;
     spi_data.qd_3s[1] = g2_state.a3.v;
+    spi_data.tau_1s[1] = g2_state.a1.t;
+    spi_data.tau_2s[1] = g2_state.a2.t;
+    spi_data.tau_3s[1] = g2_state.a3.t;
     //BUS 3 DATA
     spi_data.q_1s[2] = g3_state.a1.p;
     spi_data.q_2s[2] = g3_state.a2.p;
@@ -622,6 +628,9 @@
     spi_data.qd_1s[2] = g3_state.a1.v;
     spi_data.qd_2s[2] = g3_state.a2.v;
     spi_data.qd_3s[2] = g3_state.a3.v;
+    spi_data.tau_1s[2] = g3_state.a1.t;
+    spi_data.tau_2s[2] = g3_state.a2.t;
+    spi_data.tau_3s[2] = g3_state.a3.t;
     
     if(estop==0){
         printf("estopped!!!!\n\r");