Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 62:581aa9235ad6
- Parent:
- 61:85a31897e719
- Child:
- 63:f6fd98888e6a
- Child:
- 64:b4175385d718
diff -r 85a31897e719 -r 581aa9235ad6 main.cpp --- a/main.cpp Sat Jan 28 08:57:42 2017 +0000 +++ b/main.cpp Sat Jan 28 09:10:07 2017 +0000 @@ -166,7 +166,7 @@ BREMSInit(&io, &read, &foc, &control, false); for (;;) { - io.pc->printf("%d,%d,%d,%d\n\r", (int) read.w, (int) (100*foc.vd), (int) (100*foc.vq), (int) (256 * io.throttle_in->get_throttle())); + io.pc->printf("%d,%d,%d,%d,%d,%d\n\r", (int) read.w, (int) control.d_ref, (int) control.d_filtered, (int) control.q_ref, (int) control.q_filtered, (int) (256 * io.throttle_in->get_throttle())); wait(0.01); } } \ No newline at end of file