Diff: main.cpp

Revision:

52:cf8b2abf811d

Parent:

51:6cd89bd6fcaa

Child:

53:349304b6d937

diff -r 6cd89bd6fcaa -r cf8b2abf811d main.cpp
--- a/main.cpp	Wed Jul 17 03:40:12 2019 +0000
+++ b/main.cpp	Thu Feb 27 00:13:18 2020 +0000
@@ -10,7 +10,7 @@
 #define SETUP_MODE 4
 #define ENCODER_MODE 5
 
-#define VERSION_NUM "1.9"
+#define VERSION_NUM "1.9.1"
 
 
 float __float_reg[64];                                                          // Floats stored in flash
@@ -60,7 +60,7 @@
 
 void onMsgReceived() {
     //msgAvailable = true;
-    printf("%df\n\r", rxMsg.id);
+    //printf("%df\n\r", rxMsg.id);
     can.read(rxMsg);  
     if((rxMsg.id == CAN_ID)){
         controller.timeout = 0;
@@ -101,6 +101,8 @@
     wait_us(10);
     printf(" z - Set Zero Position\n\r");
     wait_us(10);
+    printf(" o - To own it!\n\r");
+    wait_us(10);
     printf(" esc - Exit to Menu\n\r");
     wait_us(10);
     state_change = 0;
@@ -275,6 +277,9 @@
                     state = ENCODER_MODE;
                     state_change = 1;
                     break;
+                case 'o': // the own it selection !!!
+                    controller.p_des += 0.1f;
+                    break;
                 case 's':
                     state = SETUP_MODE;
                     state_change = 1;
@@ -421,14 +426,16 @@
     init_controller_params(&controller);
 
     pc.baud(921600);                                                            // set serial baud rate
-    wait(.01);
-    pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
-    wait(.01);
+    wait_us(100);
+    pc.printf("\n\r\n\r Hobby King Cheetah\n\r\n\r");
+    wait_us(10);
     printf("\n\r Debug Info:\n\r");
     printf(" Firmware Version: %s\n\r", VERSION_NUM);
     printf(" ADC1 Offset: %d    ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
     printf(" Position Sensor Electrical Offset:   %.4f\n\r", E_OFFSET);
     printf(" Output Zero Position:  %.4f\n\r", M_OFFSET);
+    printf(" Gear Ratio %.4f:1\r\n", GR);
+    printf(" Mapped Position %.4f to %.4f Radians\n\r", P_MIN, P_MAX);
     printf(" CAN ID:  %d\n\r", CAN_ID);