Diff: main.cpp

Revision:

164:cf373c5bcffc

Parent:

161:19eac809c727

--- a/main.cpp	Sat Jul 01 22:33:29 2017 +0000
+++ b/main.cpp	Sun Sep 03 22:12:59 2017 +0000
@@ -62,7 +62,7 @@
     loop_counter++;
     
     /*update position, sin, cos*/
-    foc.p = io.pos->GetElecPosition() - POS_OFFSET;
+    foc.p = io.pos->GetElecPosition();// - POS_OFFSET;
     float sin_p = sinf(foc.p);
     float cos_p = cosf(foc.p);
     
@@ -100,7 +100,7 @@
         foc.vd = 0.0f;
         foc.vq = 0.0f;
     }
-    
+
     float pv = foc.p + read.w / V_PHASE_SWIZZLE;
     float sin_pv = sinf(pv);
     float cos_pv = cosf(pv);
@@ -161,8 +161,6 @@
 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\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);
 }