Diff: main.cpp

Revision:

49:10638a45c3ac

Parent:

47:55bdc4d5096b

--- 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);
+        }
     }
 }