Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 76:c66014e50384
- Parent:
- 75:591556ce033d
- Child:
- 77:66a9b53131f8
- Child:
- 82:5e741c5ffd9f
- Child:
- 88:703780322d5b
diff -r 591556ce033d -r c66014e50384 main.cpp --- a/main.cpp Fri Feb 24 21:37:14 2017 +0000 +++ b/main.cpp Fri Feb 24 21:38:03 2017 +0000 @@ -150,9 +150,9 @@ } 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("%d\n", io.throttle_in->get_usecs()); + 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\n", io.throttle_in->get_usecs()); wait(1.0f / LOG_FREQUENCY); }