Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 100:d100eb7d80ed
- Parent:
- 98:1051c4103900
- Child:
- 101:4f322f608280
diff -r 61b11d8e966e -r d100eb7d80ed main.cpp --- a/main.cpp Tue Apr 11 21:55:08 2017 +0000 +++ b/main.cpp Tue Apr 11 23:22:04 2017 +0000 @@ -151,9 +151,8 @@ } 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\n", (int) control.q_filtered, (int) (255 * foc.vq)); + 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", (int) (io.throttle_in->get_usecs())); wait(1.0f / LOG_FREQUENCY); } @@ -179,7 +178,7 @@ } int main() { - dq = new LutMapper();//AngleMapper(3.0f * PI / 4.0f, 50); + dq = new AngleMapper(.60f * PI, 140); th = new NullThrottleMapper(); BREMSInit(&io, &read, &foc, &control, false);