Diff: main.cpp

Revision:

3:f0d054d896f9

Parent:

2:36a254d3dbf3

Child:

4:0ce97b9fde37

diff -r 36a254d3dbf3 -r f0d054d896f9 main.cpp
--- a/main.cpp	Thu Aug 08 17:03:30 2019 +0000
+++ b/main.cpp	Thu Aug 08 17:39:17 2019 +0000
@@ -26,8 +26,9 @@
 {
     /* Your control loop goes here.  */
     /* Update torques, position/velocity setpoints, etc */
-    motors[0].control.v_des = 5.0f*sin(.01f*loop_counter);
+    motors[0].control.p_des = 10.0f*sin(.01f*loop_counter);
     motors[0].control.kd = .5f;
+    motors[0].control.kp = 1.0f;
     /*                              */
     
     for(int i = 0; i<N_MOTORS; i++)
@@ -37,7 +38,7 @@
     }
     
     
-    printf("%f\n\r", motors[0].state.velocity);           // This will print to the computer.  Usefull for debugging
+    printf("%f\n\r", motors[0].state.position);           // This will print to the computer.  Usefull for debugging
     loop_counter++;     // Increment loop counter
 }
 
@@ -53,8 +54,8 @@
     init_motors(ids);                           // Initialize the list of motors
     
     enable_motor(&motors[0], &can);             // Enable first motor
-    wait(1);                                    // Wait 1 second
-    disable_motor(&motors[0], &can);            // Disable first motor
+    //wait(1);                                    // Wait 1 second
+    //disable_motor(&motors[0], &can);            // Disable first motor
     
     loop.attach(&control, DT);                 // Start running the contorl interrupt at 1/DT Hz