WANG YUCHAO
/
Motor_DRV8323RH_for_20190
mit
Diff: main.cpp
- Revision:
- 49:10638a45c3ac
- Parent:
- 47:55bdc4d5096b
- Child:
- 50:7dfd3eb439e8
diff -r f083ea9d1d03 -r 10638a45c3ac main.cpp --- a/main.cpp Thu Jan 09 01:42:00 2020 +0000 +++ b/main.cpp Sat Dec 05 06:55:55 2020 +0000 @@ -395,6 +395,14 @@ while(1) { - + if(state == MOTOR_MODE) + { + //printf(" %.3f %.3f %.3f \n\r", controller.p_des,controller.p_des-controller.theta_mech,controller.v_des-controller.dtheta_mech); //spi.GetMechPosition + //printf(" %.3f %d %d \n\r", controller.v_bus,controller.adc1_raw,controller.adc2_raw); //spi.GetMechPosition + // printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance); + //printf("%.3f %.3f %.3f %.3f %.3f\n\r", controller.v_d, controller.v_q, controller.i_d_filt, controller.i_q_filt, controller.dtheta_elec); + // printf("%.3f\n\r", controller.dtheta_mech); + wait(.002); + } } }