Updated for checksum
Diff: main.cpp
- Revision:
- 10:42438194e82b
- Parent:
- 9:16a550d36425
- Child:
- 11:40d5d9b5d2ba
diff -r 16a550d36425 -r 42438194e82b main.cpp --- 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");