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robot
Diff: main.cpp
- Revision:
- 168:64a98ff3fb63
- Parent:
- 167:7f1f7dd969e2
- Child:
- 169:80686bfd1fe9
--- a/main.cpp Sun Oct 01 07:58:19 2017 +0000 +++ b/main.cpp Sun Oct 01 08:00:49 2017 +0000 @@ -159,9 +159,9 @@ } 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("%c,%c\n", (int) (control.d_filtered / 2.0f), (int) (control.q_filtered / 2.0f)); + //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("%c,%c\n", (int) (control.d_filtered / 2.0f), (int) (control.q_filtered / 2.0f)); //io.pc->printf("%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_filtered, (int) control.q_filtered, (int) (255 * foc.vd), (int) (255 * foc.vq)); wait(1.0f / LOG_FREQUENCY); } @@ -186,7 +186,7 @@ int main() { dq = new LutMapper(); - th = new AutoThrottleMapper();//NullThrottleMapper(); + th = new AutoThrottleMapper(50.0f, 3.0f);//NullThrottleMapper(); BREMSInit(&io, &read, &foc, &control, false);