Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 132:101b74e4763a
- Parent:
- 131:031df63c7dbc
- Child:
- 133:a5417cabea47
- Child:
- 143:a7a0c9d70e8a
--- a/main.cpp Mon May 01 04:04:52 2017 +0000 +++ b/main.cpp Mon May 01 05:22:10 2017 +0000 @@ -160,9 +160,9 @@ } void log() { - //io.pc->printf("%d,%d,%d,%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_ref, (int) control.d_filtered, (int) control.q_ref, (int) control.q_filtered, (int) (255 * control.torque_percent), - // (int) (255 * foc.vd), (int) (255 * foc.vq)); - io.pc->printf("%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_filtered, (int) control.q_filtered, (int) (255 * foc.vd_decouple), (int) (255 * foc.vq_decouple)); + io.pc->printf("%d,%d,%d,%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_ref, (int) control.d_filtered, (int) control.q_ref, (int) control.q_filtered, (int) (255 * control.torque_percent), + (int) (255 * foc.vd), (int) (255 * foc.vq)); + //io.pc->printf("%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_filtered, (int) control.q_filtered, (int) (255 * foc.vd_decouple), (int) (255 * foc.vq_decouple)); wait(1.0f / LOG_FREQUENCY); } @@ -185,7 +185,7 @@ } int main() { - dq = new DirectMapper(-82.0f, 22.0f);//LutMapper(); + dq = new LutMapper(); th = new NullThrottleMapper(); BREMSInit(&io, &read, &foc, &control, false);