11
Dependencies: mbed-dev-f303 FastPWM3
Diff: main.cpp
- Revision:
- 54:4ce8f97be6ae
- Parent:
- 53:89565c1d9115
diff -r 89565c1d9115 -r 4ce8f97be6ae main.cpp --- 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); + } }