Kosaka Lab
/
DCmotor
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Fork of
DCmotor2
by 
manabu kosaka
Diff: controller.cpp
- Revision:
- 15:29797f995594
- Parent:
- 13:ba71733c11d7
- Child:
- 20:39d919589359
- Child:
- 22:4fd506b1c68d
--- a/controller.cpp Sun Mar 03 09:19:02 2013 +0000
+++ b/controller.cpp Tue Mar 12 05:01:46 2013 +0000
@@ -135,6 +135,7 @@
float e, ed;
e = vl.w_ref - vl.w_lpf; // 速度偏差の計算
+debug[1]=vl.w_ref/2/PI;//[Hz], for debug
vl.eI = vl.eI + TS1*e; // 速度偏差の積分値の計算
@@ -243,7 +244,7 @@
void data2mbedUSB(){ // PC上のmbed USB ディスクにセーブするためのデータをTS3[s]ごとに代入 save data to mbed USB drive
if( _countTS3<1000 ){ // データ数が1,000の5種類のデータをメモリーに貯める
- data[_countTS3][0]=p.th[0]/*vl.w_ref*/; data[_countTS3][1]=debug[0];
+ data[_countTS3][0]=debug[0]; data[_countTS3][1]=debug[1];
data[_countTS3][2]=vl.w_lpf; data[_countTS3][3]=_countTS0*TS0; data[_countTS3][4]=il.v_ref;
_countTS3++;
}