Diff: main.cpp

Revision:

54:4ce8f97be6ae

Parent:

53:89565c1d9115

--- a/main.cpp	Mon Dec 27 02:47:12 2021 +0000
+++ b/main.cpp	Sun Jun 12 12:31:38 2022 +0000
@@ -87,11 +87,12 @@
         else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFE))){
       /*
             quanshu=spi.aa;
+            guanjieweizhi=spi.bb;
          if (!prefs.ready()) prefs.open();
                         prefs.flush();                                                  // Write new prefs to flash
                         prefs.close();    
                         prefs.load(); 
-                        */
+            */            
             spi.ZeroPosition();
             
             }
@@ -196,7 +197,7 @@
     gpio.led->write(1);                                                    // Turn on status LED
     order_phases(&spi, &gpio, &controller, &prefs);                             // Check phase ordering
     calibrate(&spi, &gpio, &controller, &prefs);                                // Perform calibration procedure
-    gpio.led->write(0);;                                                     // Turn off status LED
+    gpio.led->write(0);;                                                   // Turn off status LED
     wait(.2);
     gpio.enable->write(0);                                                      // Turn off gate drive
     printf("\n\r Calibration complete.  Press 'esc' to return to menu\n\r");
@@ -217,6 +218,9 @@
         ADC1->CR2  |= 0x40000000;                                               // Begin sample and conversion
         //volatile int delay;   
         //for (delay = 0; delay < 55; delay++);
+        
+        
+        
         controller.adc2_raw = ADC2->DR;                                         // Read ADC Data Registers
         controller.adc1_raw = ADC1->DR;
         controller.adc3_raw = ADC3->DR;
@@ -492,18 +496,18 @@
 
     
     while(1) {
-        if(state == MOTOR_MODE)
+        if(state == MOTOR_MODE ||state == SPEED_MODE||state == Position_MODE)
              {
-          // if(count >= 400){
-//            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("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("Jraw:%.3f   J: %.3f  Mec: %.3f   N: %.3d   Nmod: %.3f   Mmod: %.3f \n\r",controller.theta_joint_raw*57.2957795,controller.theta_joint*57.2957795, controller.theta_mech*57.2957795, controller.Ncycle,controller.Ncycle_mod*57.2957795,controller.Mech_mod*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);
-              pc.printf("Vdes: %.3f\n\rPrel: %.3f  Vrel: %.3f   T: %.3f \n\r",controller.v_des,controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
+             // pc.printf("Vdes: %.3f\n\rPrel: %.3f  Vrel: %.3f   T: %.3f \n\r",controller.v_des,controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
               //printf("tor: %.3f\n\r",controller.i_q_filt*KT_OUT)
              // count = 0;
-            
-            //}
+             pc.printf("%d\n\r",spi.aa);
+             
 
         }
     }