Diff: DATA_COMMAND/data_command.cpp

Revision:

9:bf02fd2d7a0a

Parent:

8:95a914f962bd

--- a/DATA_COMMAND/data_command.cpp	Tue Jan 07 09:23:24 2020 +0000
+++ b/DATA_COMMAND/data_command.cpp	Wed Feb 19 05:22:32 2020 +0000
@@ -46,7 +46,7 @@
         else
         {
             duoji_command=0;
-            }
+        }
         
         if(state==REST_MODE)
             {
@@ -69,7 +69,15 @@
              }
        if((state==MOTOR_MODE)&&(data[0]!='m'))
         { 
-           a_control.ef.p_des=int(c);//*2*PI/360;
+           //a_control.ef.p_des=int(c);//*2*PI/360;
+           a_control.ef.p_des=int(data[0])*2*PI/360;
+            send_enable = 1;
+            printf("f: %.3f\n\r", a_control.ef.p_des);
+            }
+            
+       if((state==MOTOR_MODE)&&(data[2]!='m'))
+        { 
+           a_control.wf.p_des=int(data[2])*2*PI/360;
             send_enable = 1;
             printf("f: %.3f\n\r", a_control.ef.p_des);
             }