Aditya Mehrotra / motor_driver_screaming_fix

Modified Motor Driver Firmware to include Flash + Thermal

Dependencies:   FastPWM3 mbed-dev-STM-lean

Diff: main.cpp

Revision:
68:edfdbd0db876
Parent:
67:96a4052a1705
Child:
70:2ea6c555a2cb
diff -r 96a4052a1705 -r edfdbd0db876 main.cpp
--- a/main.cpp	Tue Feb 09 16:30:11 2021 +0000
+++ b/main.cpp	Tue Feb 09 16:33:00 2021 +0000
@@ -82,8 +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.v_q, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
+        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);
         }