Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

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Dependencies:   FastPWM3 mbed

Files at this revision

API Documentation at this revision

Revision 211:3193c31cb1b7, committed 2018-04-28

Comitter:
bwang
Date:
Sat Apr 28 21:33:05 2018 +0000
Parent:
210:f9b722cf8a2c
Child:
212:1e370ffcb73d
Commit message:
added vd, vq parameters in cmd_query, changed order of strcmps in cmd_query() to speed up typical use

Changed in this revision

CommandProcessor/cmd_set_get.cpp Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/CommandProcessor/cmd_set_get.cpp	Sat Apr 28 21:21:22 2018 +0000
+++ b/CommandProcessor/cmd_set_get.cpp	Sat Apr 28 21:33:05 2018 +0000
@@ -183,12 +183,14 @@
     if (strcmp(buf, "pos") == 0) pc->printf("%f\n", foc.p);
     else if (strcmp(buf, "w") == 0) pc->printf("%f\n", read.w);
     else if (strcmp(buf, "cmd") == 0) pc->printf("%f\n", control.user_cmd);
+    else if (strcmp(buf, "d") == 0) pc->printf("%f\n", foc.d);
+    else if (strcmp(buf, "q") == 0) pc->printf("%f\n", foc.q);
+    else if (strcmp(buf, "vd") == 0) pc->printf("%f\n", foc.vd);
+    else if (strcmp(buf, "vq") == 0) pc->printf("%f\n", foc.vq);
+    else if (strcmp(buf, "tq") == 0) pc->printf("%f\n", control.torque_percent);
     else if (strcmp(buf, "ia") == 0) pc->printf("%f\n", foc.ia);
     else if (strcmp(buf, "ib") == 0) pc->printf("%f\n", foc.ib);
     else if (strcmp(buf, "ic") == 0) pc->printf("%f\n", -foc.ia - foc.ib);
-    else if (strcmp(buf, "d") == 0) pc->printf("%f\n", foc.d);
-    else if (strcmp(buf, "q") == 0) pc->printf("%f\n", foc.q);
-    else if (strcmp(buf, "tq") == 0) pc->printf("%f\n", control.torque_percent);
     else if (strcmp(buf, "errors") == 0) cmd_query_err(pc);
     else pc->printf("%s\n", "No such parameter");
 }
\ No newline at end of file

--- a/main.cpp	Sat Apr 28 21:21:22 2018 +0000
+++ b/main.cpp	Sat Apr 28 21:33:05 2018 +0000
@@ -173,7 +173,7 @@
 }
 
 int main() {    
-    dq = new InterpolatingLutMapper();
+    dq = new DirectMapper(50.0f, 0.0f);//InterpolatingLutMapper();
     th = new LimitingThrottleMapper(1500.0f);
 
     BREMSInit(&io, &read, &foc, &control, false);