Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 61:85a31897e719
- Parent:
- 59:0416da6c3060
- Child:
- 62:581aa9235ad6
--- a/main.cpp Sat Jan 28 04:33:33 2017 +0000 +++ b/main.cpp Sat Jan 28 08:57:42 2017 +0000 @@ -166,7 +166,7 @@ BREMSInit(&io, &read, &foc, &control, false); for (;;) { - //io.pc->printf("%f %f %f\n\r", read.w, control.d_integral, control.q_integral); - //wait(0.2); + io.pc->printf("%d,%d,%d,%d\n\r", (int) read.w, (int) (100*foc.vd), (int) (100*foc.vq), (int) (256 * io.throttle_in->get_throttle())); + wait(0.01); } } \ No newline at end of file