Diff: main.cpp

Revision:

50:1fe5c2c53af1

Parent:

49:7eac11914980

Child:

51:29e1686e8b3e

--- a/main.cpp	Thu Mar 19 03:48:24 2020 +0000
+++ b/main.cpp	Tue May 26 09:24:13 2020 +0000
@@ -684,9 +684,9 @@
           // float j_position=-controller.theta_mech1*57.2957795;
             //printf("m:%.3f\n\r,j:%.3f\n\r",m_position,j_position);
            if(count >= 4000){
-            //printf("J: %.3f  Mec: %.3f   Jerr: %.3f   JVerr: %.3f\n\r",controller.theta_joint*57.2957795, controller.theta_mech*57.2957795, (controller.p_des - controller.theta_mech)*57.2957795,(controller.v_des - controller.dtheta_mech)*57.2957795);
-              printf("Pdes: %.3f  Vdes: %.3f   Kp: %.3f   Kd: %.3f   Tff: %.3f\n\r",controller.p_des*57.2957795, controller.v_des*57.2957795, controller.kp,controller.kd,controller.t_ff);
-              printf("Prel: %.3f  Vrel: %.3f   T: %.3f \n\r",controller.theta_mech*57.2957795, controller.dtheta_mech*57.2957795, controller.i_q_filt*KT_OUT);
+            printf("J: %.3f  Mec: %.3f   Jerr: %.3f   JVerr: %.3f   Kp: %.3f   Kd: %.3f  \n\r",controller.theta_joint*57.2957795, controller.theta_mech*57.2957795, (controller.p_des - controller.theta_mech)*57.2957795,(controller.v_des - controller.dtheta_mech)*57.2957795, controller.kp,controller.kd);
+             // printf("Pdes: %.3f  Vdes: %.3f   Kp: %.3f   Kd: %.3f   Tff: %.3f\n\r",controller.p_des*57.2957795, controller.v_des*57.2957795, controller.kp,controller.kd,controller.t_ff);
+             // printf("Prel: %.3f  Vrel: %.3f   T: %.3f \n\r",controller.theta_mech*57.2957795, controller.dtheta_mech*57.2957795, controller.i_q_filt*KT_OUT);
               count = 0;
               }