Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 72:5f1da97d62e1
- Parent:
- 71:292dfc44ca53
- Child:
- 73:d44bc3a46942
diff -r 292dfc44ca53 -r 5f1da97d62e1 main.cpp --- a/main.cpp Sun Feb 05 11:58:06 2017 +0000 +++ b/main.cpp Sun Feb 05 12:23:46 2017 +0000 @@ -17,6 +17,7 @@ #include "config_pins.h" #include "config_inverter.h" #include "config_driving.h" +#include "config_logging.h" #include "main.h" @@ -146,11 +147,10 @@ return str * old + (1.0f - str) * x; } -void debug_print() { +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 * control.d_integral), (int) (255 * control.q_integral)); - //io.pc->printf("%d\n", (int) (255 * control.torque_percent)); - wait(0.01); + wait(1.0f / LOG_FREQUENCY); } @@ -172,6 +172,8 @@ BREMSInit(&io, &read, &foc, &control, false); for (;;) { - debug_print(); + if (ENABLE_LOGGING) { + log(); + } } } \ No newline at end of file