Diff: main.cpp

Revision:

100:d100eb7d80ed

Parent:

98:1051c4103900

Child:

101:4f322f608280

--- a/main.cpp	Tue Apr 11 21:55:08 2017 +0000
+++ b/main.cpp	Tue Apr 11 23:22:04 2017 +0000
@@ -151,9 +151,8 @@
 }
 
 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\n", (int) control.q_filtered, (int) (255 * foc.vq));
+    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\n", (int) (io.throttle_in->get_usecs()));
     wait(1.0f / LOG_FREQUENCY);
 }
@@ -179,7 +178,7 @@
 }
 
 int main() {
-    dq = new LutMapper();//AngleMapper(3.0f * PI / 4.0f, 50);
+    dq = new AngleMapper(.60f * PI, 140);
     th = new NullThrottleMapper();
     BREMSInit(&io, &read, &foc, &control, false);