Diff: main.cpp

Revision:

53:349304b6d937

Parent:

52:cf8b2abf811d

Child:

54:3e056b097c52

--- a/main.cpp	Thu Feb 27 00:13:18 2020 +0000
+++ b/main.cpp	Fri Feb 28 23:05:58 2020 +0000
@@ -101,7 +101,11 @@
     wait_us(10);
     printf(" z - Set Zero Position\n\r");
     wait_us(10);
-    printf(" o - To own it!\n\r");
+    printf(" f - Move Forward\n\r");
+    wait_us(10);
+    printf(" b - Move Back\n\r");
+    wait_us(10);
+    printf(" p - current posiiton\n\r");
     wait_us(10);
     printf(" esc - Exit to Menu\n\r");
     wait_us(10);
@@ -276,10 +280,7 @@
                 case 'e':
                     state = ENCODER_MODE;
                     state_change = 1;
-                    break;
-                case 'o': // the own it selection !!!
-                    controller.p_des += 0.1f;
-                    break;
+                    break;                
                 case 's':
                     state = SETUP_MODE;
                     state_change = 1;
@@ -358,7 +359,20 @@
                 case 'd':
                     controller.i_q_ref = 0;
                     controller.i_d_ref = 0;
+                    break;
+                case 'f': // move forward                    
+                    controller.p_des += 0.02f;
+                    printf("p_des: %.3f\r\n", controller.p_des);
+                    break;
+                case 'r': // move back
+                    controller.p_des -= 0.02f;
+                    printf("p_des: %.3f\r\n", controller.p_des);
+                    break;
+                case 'p': // show posiiton                                                               
+                    printf("Pos: %.3f Vel: %.3f Cur: %.3f\r\n", controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
+                    break;    
                 }
+                
             }
             
         }