Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 133:a5417cabea47
- Parent:
- 132:101b74e4763a
--- a/main.cpp Mon May 01 05:22:10 2017 +0000 +++ b/main.cpp Mon May 01 07:14:16 2017 +0000 @@ -160,9 +160,10 @@ } 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,%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_decouple), (int) (255 * foc.vq_decouple)); + io.pc->printf("%d\n", io.throttle_in->get_usecs()); wait(1.0f / LOG_FREQUENCY); }