1
Dependencies: mbed-dev-f303 FastPWM3
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; }