Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 143:a7a0c9d70e8a
- Parent:
- 132:101b74e4763a
- Child:
- 150:08c13bfc7417
diff -r 0e0a164feb4c -r a7a0c9d70e8a main.cpp --- a/main.cpp Tue May 02 10:44:22 2017 +0000 +++ b/main.cpp Tue May 02 10:54:52 2017 +0000 @@ -162,7 +162,7 @@ void log() { io.pc->printf("%d,%d,%d,%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_ref, (int) control.d_filtered, (int) control.q_ref, (int) control.q_filtered, (int) (255 * control.torque_percent), (int) (255 * foc.vd), (int) (255 * foc.vq)); - //io.pc->printf("%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_filtered, (int) control.q_filtered, (int) (255 * foc.vd_decouple), (int) (255 * foc.vq_decouple)); + //io.pc->printf("%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_filtered, (int) control.q_filtered, (int) (255 * foc.vd), (int) (255 * foc.vq)); wait(1.0f / LOG_FREQUENCY); }