Diff: main.cpp

Revision:

170:e2c3b5a938e7

Parent:

169:80686bfd1fe9

Child:

172:3d7196b71afd

diff -r 80686bfd1fe9 -r e2c3b5a938e7 main.cpp
--- a/main.cpp	Thu Nov 23 04:56:04 2017 +0000
+++ b/main.cpp	Sat Dec 02 19:24:56 2017 +0000
@@ -159,9 +159,8 @@
 }
 
 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("%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("%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);
 }
@@ -186,7 +185,7 @@
 
 int main() {    
     dq = new LutMapper();
-    th = new NullThrottleMapper();
+    th = new LimitingThrottleMapper(1500.0f);//NullThrottleMapper();
     
     BREMSInit(&io, &read, &foc, &control, false);