Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 161:19eac809c727
- Parent:
- 160:6948bb7bcabd
- Child:
- 163:8b23a2fdaa16
- Child:
- 164:cf373c5bcffc
- Child:
- 165:2463dbe52eee
diff -r 6948bb7bcabd -r 19eac809c727 main.cpp --- a/main.cpp Sat Jul 01 21:16:33 2017 +0000 +++ b/main.cpp Sat Jul 01 22:29:19 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); } @@ -185,8 +185,8 @@ } int main() { - dq = new AutoMapper(0.5f * PI, PI, 25, 140);//LutMapper(); - th = new AutoThrottleMapper(50.0f, 3.0f);//NullThrottleMapper(); + dq = new LutMapper();//AutoMapper(0.5f * PI, PI, 50, 180); + th = new NullThrottleMapper();//AutoThrottleMapper(50.0f, 3.0f); BREMSInit(&io, &read, &foc, &control, false);