Diff: main.cpp

Revision:

5:eeb8af99cb6c

Parent:

4:f18f6bc5e1fd

Child:

6:4960629abb90

--- a/main.cpp	Thu Feb 26 04:49:21 2015 +0000
+++ b/main.cpp	Thu Feb 26 09:50:36 2015 +0000
@@ -1,6 +1,4 @@
 #include "mbed.h"
-
-
 #include "constants.h"
 #include "shared.h"
 #include "util.h"
@@ -9,6 +7,7 @@
 
 Serial pc(SERIAL_TX, SERIAL_RX);
 
+
 PwmOut pha(_PH_A);
 PwmOut phb(_PH_B);
 PwmOut phc(_PH_C);
@@ -21,6 +20,9 @@
 AnalogIn analoga(_ANALOGA);
 AnalogIn analogb(_ANALOGB);
 
+AnalogIn ia(_IA);
+AnalogIn ib(_IB);
+
 Motor* motor;
 
 #ifdef __DEBUG
@@ -31,11 +33,15 @@
 #ifdef __USE_THROTTLE
     Ticker dtc_upd_ticker;
     Ticker throttle_upd_ticker;
+    Ticker isense_upd_ticker;
 #endif
 
 float throttle_read;
+float ia_read;
+float ib_read;
 
 int main() {
+    pc.baud(115200);
 #ifdef __DEBUG
     pc.printf("%s\n", "Debug mode ON");
 #endif
@@ -51,6 +57,11 @@
 #ifdef __USE_THROTTLE
         throttle_read = throttle;
 #endif
+        ia_read = ia;
+        ib_read = ib;
+        isense_update();
+        pc.printf("%f",motor->current);
+        pc.printf("\n\r");
         pos_update();
 #ifndef __USE_THROTTLE
         dtc_update();