Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 47:1c9868e226d0
- Parent:
- 46:748aba7d111d
- Child:
- 48:a1a09c83d42c
--- a/main.cpp Tue Jan 10 04:47:38 2017 +0000 +++ b/main.cpp Tue Jan 10 05:35:24 2017 +0000 @@ -51,6 +51,7 @@ if (control_enabled && !io.throttle_in->get_enabled()) go_disabled(); if (control_enabled && !io.pos->IsValid()) go_disabled(); if (!control_enabled && io.throttle_in->get_enabled()) go_enabled(); +// io.pc->printf("Passed safety checks.\n"); /*update velocity, references*/ update_velocity(); @@ -112,13 +113,9 @@ vc = vc - voff; /*output to timers*/ - //set_dtc(io.a, 0.5f + 0.5f * va); - //set_dtc(io.b, 0.5f + 0.5f * vb); - //set_dtc(io.c, 0.5f + 0.5f * vc); - - set_dtc(io.a, 0.95f); - set_dtc(io.b, 0.05f); - set_dtc(io.c, 0.05f); + set_dtc(io.a, 0.5f + 0.5f * va); + set_dtc(io.b, 0.5f + 0.5f * vb); + set_dtc(io.c, 0.5f + 0.5f * vc); } void slow_loop() { @@ -155,10 +152,10 @@ } int main() { - BREMSInit(&io, &read, &foc, &control, false); dq = new LinearNoFWMapper(KT, TORQUE_MAX, FLUX_LINKAGE); th = new NullThrottleMapper(); - + BREMSInit(&io, &read, &foc, &control, false); + for (;;) { } } \ No newline at end of file