nhan pham an / Hobbyking_Cheetah_Compact_DRV8323_StepDir

Fork and fix for mwork

Dependencies:   mbed-dev-f303 FastPWM3 millis

macro.cpp@59:568e7be5232f, 2020-06-29 (annotated)

Committer:
annhandt09
Date:
Mon Jun 29 09:36:26 2020 +0000
Revision:
59:568e7be5232f
Parent:
58:fb799e99a5f7 
add controller.p_des = controller.theta_mech - (controller.t_ff / controller.kp) ;  for first enable.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
annhandt09 58:fb799e99a5f7 1 #include "macro.h"
annhandt09 58:fb799e99a5f7 2
annhandt09 58:fb799e99a5f7 3 void cond_printf(const char *format, ...)
annhandt09 58:fb799e99a5f7 4 {
annhandt09 58:fb799e99a5f7 5 if (io_mode != IO_MODE_SERIAL) {
annhandt09 58:fb799e99a5f7 6 return;
annhandt09 58:fb799e99a5f7 7 }
annhandt09 58:fb799e99a5f7 8 /*if (io_mode == IO_MODE_STEP_DIR) {
annhandt09 58:fb799e99a5f7 9 pc->printf( "thoat");
annhandt09 58:fb799e99a5f7 10 return;
annhandt09 58:fb799e99a5f7 11 }
annhandt09 58:fb799e99a5f7 12 */
annhandt09 58:fb799e99a5f7 13 char loc_buf[64];
annhandt09 58:fb799e99a5f7 14 char * temp = loc_buf;
annhandt09 58:fb799e99a5f7 15 va_list arg;
annhandt09 58:fb799e99a5f7 16 va_list copy;
annhandt09 58:fb799e99a5f7 17 va_start(arg, format);
annhandt09 58:fb799e99a5f7 18 va_copy(copy, arg);
annhandt09 58:fb799e99a5f7 19 size_t len = vsnprintf(NULL, 0, format, arg);
annhandt09 58:fb799e99a5f7 20 va_end(copy);
annhandt09 58:fb799e99a5f7 21 if(len >= sizeof(loc_buf)){
annhandt09 58:fb799e99a5f7 22 temp = new char[len+1];
annhandt09 58:fb799e99a5f7 23 if(temp == NULL) {
annhandt09 58:fb799e99a5f7 24 return;
annhandt09 58:fb799e99a5f7 25 }
annhandt09 58:fb799e99a5f7 26 }
annhandt09 58:fb799e99a5f7 27 len = vsnprintf(temp, len+1, format, arg);
annhandt09 58:fb799e99a5f7 28 pc->printf(temp);
annhandt09 58:fb799e99a5f7 29 va_end(arg);
annhandt09 58:fb799e99a5f7 30 if(len > 64){
annhandt09 58:fb799e99a5f7 31 delete[] temp;
annhandt09 58:fb799e99a5f7 32 }
annhandt09 58:fb799e99a5f7 33 }