Diff: main.cpp

Revision:

67:96a4052a1705

Parent:

66:3947255b18c5

Child:

68:edfdbd0db876

--- a/main.cpp	Fri Jan 29 20:39:36 2021 +0000
+++ b/main.cpp	Tue Feb 09 16:30:11 2021 +0000
@@ -26,7 +26,7 @@
 #include "math_ops.h" 
 #include "current_controller_config.h"
 #include "hw_config.h"
-#include "motor_config_U12.h" // need to choose between two files here, one for U10 and one for U12
+#include "motor_config_U10.h" // need to choose between two files here, one for U10 and one for U12
 #include "stm32f4xx_flash.h"
 #include "FlashWriter.h"
 #include "user_config.h"
@@ -82,7 +82,8 @@
         else if(state == MOTOR_MODE){
             unpack_cmd(rxMsg, &controller);
             }
-        pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT); // multiply theta, dtheta_mech by GR here?
+        //pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT); // multiply theta, dtheta_mech by GR here?
+        pack_reply(&txMsg, controller.v_q, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
         //pack_reply(&txMsg, 3.14159f, 6.28318f, 1.00f); // test values
         can.write(txMsg);
         }