Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 9:074575151e4b
- Parent:
- 4:a6669248ce4d
- Child:
- 10:f49df0fe0382
--- a/main.cpp Fri Mar 18 12:07:14 2016 +0000 +++ b/main.cpp Tue May 17 06:44:09 2016 +0000 @@ -134,6 +134,8 @@ pc.printf("Current Sensor Offset: %f mV\n\r", I_OFFSET); pc.printf("Current Sensor Scale: %f mv/A\n\r", I_SCALE); pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE); + pc.printf("Pole pairs: %d\n\r", (int) POLE_PAIRS); + pc.printf("Resolver lobes: %d\n\r", (int) RESOLVER_LOBES); pc.printf("Loop KP: %f\n\r", KP); pc.printf("Loop KI: %f\n\r", KI); pc.printf("Ia offset: %f mV\n\r", ia_supp_offset); @@ -206,15 +208,5 @@ startup_msg(); for (;;) { - /* - q_ref = 0.0f; - wait(3); - toggle = state; - state = !state; - q_ref = -50.0f; - wait(3); - toggle = state; - state = !state; - */ } }