Revision f8cf404d components/DistControl.cpp
components/DistControl.cpp | ||
---|---|---|
5 | 5 |
|
6 | 6 |
#include <amiro/DistControl.h> |
7 | 7 |
|
8 |
#include <global.hpp> |
|
9 |
|
|
8 | 10 |
using namespace chibios_rt; |
9 | 11 |
using namespace amiro; |
10 | 12 |
using namespace types; |
11 | 13 |
using namespace constants; |
12 | 14 |
using namespace constants::DiWheelDrive; |
13 | 15 |
|
16 |
extern Global global; |
|
17 |
|
|
14 | 18 |
DistControl::DistControl(MotorControl* mc, MotorIncrements* mi) |
15 | 19 |
: BaseStaticThread<256>(), |
16 | 20 |
motorControl(mc), |
... | ... | |
142 | 146 |
|
143 | 147 |
/* |
144 | 148 |
if (time-printTime > MS2ST(100)) { |
145 |
chprintf((BaseSequentialStream*) &SD1, "dist = %i um, angle = %i urad, ed = %i um, ea = %i, v = %i um/s, w = %i urad/s\n", realDistance, realAngle, errorDistance, errorAngle, targetVelocity.x, targetVelocity.w_z);
|
|
149 |
chprintf((BaseSequentialStream*) &global.sercanmux1, "dist = %i um, angle = %i urad, ed = %i um, ea = %i, v = %i um/s, w = %i urad/s\n", realDistance, realAngle, errorDistance, errorAngle, targetVelocity.x, targetVelocity.w_z);
|
|
146 | 150 |
printTime = time; |
147 | 151 |
} |
148 | 152 |
*/ |
Also available in: Unified diff