Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 123:d81d91c9abe8
- Parent:
- 122:53be0630f79d
- Child:
- 124:e70ca81676fc
--- a/main.cpp Wed Apr 26 03:28:00 2017 +0000 +++ b/main.cpp Fri Apr 28 01:11:04 2017 +0000 @@ -64,7 +64,7 @@ loop_counter++; /*update position, sin, cos*/ - foc.p = io.pos->GetElecPosition() - POS_OFFSET; + foc.p = io.pos->GetElecPosition() - POS_OFFSET + read.w / 1048.0f; float sin_p = sinf(foc.p); float cos_p = cosf(foc.p); @@ -154,6 +154,7 @@ 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), (int) (255 * foc.vq)); //io.pc->printf("%d\n", io.pos->IsValid()); wait(1.0f / LOG_FREQUENCY); } @@ -179,7 +180,7 @@ } int main() { - dq = new LutMapper();//AngleMapper(PI / 2, 200); + dq = new LutMapper();//AngleMapper(1.7805f, 48.05f); th = new NullThrottleMapper(); BREMSInit(&io, &read, &foc, &control, false);