Diff: main.cpp

Revision:

76:4fd876d4cf2b

Parent:

75:c7fbacd92b8f

Child:

77:81c2cbc5d906

--- a/main.cpp	Mon Aug 29 18:57:14 2022 +0000
+++ b/main.cpp	Tue Oct 18 16:22:24 2022 +0000
@@ -13,9 +13,11 @@
 
 #define VERSION_NUM "2.0" //changed to 2.0 for flash storage version
 
+#define LOG_POINTS          500
 
 float __float_reg[64];                                                          // Floats stored in flash
 int __int_reg[256];                                                             // Ints stored in flash.  Includes position sensor calibration lookup table
+float pos_high_frequency[LOG_POINTS];
 
 #include "mbed.h"
 #include "PositionSensor.h"
@@ -518,6 +520,14 @@
                 case 'd':
                     controller.i_q_ref = 0;
                     controller.i_d_ref = 0;
+                case 'p':
+                    //turn off switching
+                    state = REST_MODE;
+                    state_change = 1;
+                    //print the characters to terminal
+                    for (int i=0; i< LOG_POINTS; i++) {
+                        printf("%f\n\r", pos_high_frequency[i]); //return carrige 
+                    }
                 }
             }
             
@@ -638,6 +648,13 @@
         wait(.1);
         
         if(controller.otw_flag){gpio.led->write(!gpio.led->read());}
+        
+        if(state == MOTOR_MODE) {
+            for (int i=0; i<= LOG_POINTS-2; i++) {
+                pos_high_frequency[i] = pos_high_frequency[i+i];
+            }
+            pos_high_frequency[499] = controller.theta_mech;
+        }
              /*
         if(state == MOTOR_MODE)
         {