Diff: main.cpp

Revision:

52:91a42bd0fe2e

Parent:

51:b0a3ef66ea3d

Child:

56:d34e4540ec12

--- a/main.cpp	Wed May 08 01:17:38 2019 +0000
+++ b/main.cpp	Wed May 08 05:36:07 2019 +0000
@@ -230,8 +230,8 @@
                 Tperiod = controller.TperiodIn;
                 p_des_HJB = Init_pos + Pmag*FastSin(2*PI*count/(Tperiod*40000));//Pmag*FastSin(2*PI*count/(Tperiod*40000));
                 v_des_HJB = 2*PI*Pmag*FastCos(2*PI*count/(Tperiod*40000))/Tperiod;
-                controller.p_des = p_des_HJB;//uint_to_float(p_des_HJB, -15.f, 15.f, 16); 
-                controller.v_des = v_des_HJB;
+              //  controller.p_des = p_des_HJB;//uint_to_float(p_des_HJB, -15.f, 15.f, 16); 
+              //  controller.v_des = v_des_HJB;
                 if(count>=(Tperiod*40000))
                 {count = 0;}
                 
@@ -490,7 +490,8 @@
        
         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  %.3f  %.3f \n\r", controller.p_des,controller.p_des-controller.theta_mech,controller.v_des-controller.dtheta_mech);  //spi.GetMechPosition
+           printf(" %.3f  %.3f  %.3f \n\r", controller.v_des*60/(2*PI),controller.dtheta_mech*60/(2*PI),controller.v_des-controller.dtheta_mech);  //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);