Diff: main.cpp

Revision:

160:6948bb7bcabd

Parent:

158:882f9c208378

Child:

161:19eac809c727

--- a/main.cpp	Sun May 07 17:43:41 2017 +0000
+++ b/main.cpp	Sat Jul 01 21:16:33 2017 +0000
@@ -159,8 +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("%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);
 }
@@ -184,8 +185,8 @@
 }
 
 int main() {
-    dq = new LutMapper();
-    th = new NullThrottleMapper();
+    dq = new AutoMapper(0.5f * PI, PI, 25, 140);//LutMapper();
+    th = new AutoThrottleMapper(50.0f, 3.0f);//NullThrottleMapper();
     
     BREMSInit(&io, &read, &foc, &control, false);