Diff: main.cpp

Revision:

92:a9dac72d8cac

Parent:

91:f58472ac3fae

Child:

93:e7e45957f496

--- a/main.cpp	Wed Apr 05 20:57:18 2017 +0000
+++ b/main.cpp	Thu Apr 06 17:33:47 2017 +0000
@@ -118,9 +118,9 @@
     }
     
     /*output to timers*/
-    set_dtc(io.a, 0.5f + 0.5f * va);
-    set_dtc(io.b, 0.5f + 0.5f * vb);
-    set_dtc(io.c, 0.5f + 0.5f * vc);
+    set_dtc(io.a, 0.5f + 0.5f * va * 0.89f);
+    set_dtc(io.b, 0.5f + 0.5f * vb * 0.89f);
+    set_dtc(io.c, 0.5f + 0.5f * vc * 0.89f);
 }
 
 void slow_loop() {
@@ -151,13 +151,12 @@
 }
 
 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", (int) (control.d_filtered));//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", (int) (255 * control.torque_percent));
     wait(1.0f / LOG_FREQUENCY);
 }
         
-
 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
     int start_state = io.throttle_in->state();