Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 73:d44bc3a46942
- Parent:
- 72:5f1da97d62e1
- Child:
- 74:f10cb573d7ca
diff -r 5f1da97d62e1 -r d44bc3a46942 main.cpp --- a/main.cpp Sun Feb 05 12:23:46 2017 +0000 +++ b/main.cpp Mon Feb 20 12:37:21 2017 +0000 @@ -149,7 +149,7 @@ 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 * control.d_integral), (int) (255 * control.q_integral)); + (int) (255 * foc.vd), (int) (255 * foc.vq)); wait(1.0f / LOG_FREQUENCY); }