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change output log to more sensible values

This commit is contained in:
interfisch 2021-03-21 19:03:45 +01:00
parent ef0661c0a6
commit aa12f1ff17
1 changed files with 5 additions and 5 deletions
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10
controller_teensy/src/main.cpp
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@ -393,10 +393,10 @@ void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpf
SerialRef.print(mprear.cmdL); SerialRef.print(",");
SerialRef.print(mprear.cmdR); SerialRef.print(",");
SerialRef.print(mpfront.filtered_curL,3); SerialRef.print(",");
SerialRef.print(mpfront.filtered_curR,3); SerialRef.print(",");
SerialRef.print(mprear.filtered_curL,3); SerialRef.print(",");
SerialRef.print(mprear.filtered_curR,3); SerialRef.print(",");
SerialRef.print(-mpfront.filtered_curL,3); SerialRef.print(","); //invert. positive current is drive current
SerialRef.print(-mpfront.filtered_curR,3); SerialRef.print(",");
SerialRef.print(-mprear.filtered_curL,3); SerialRef.print(",");
SerialRef.print(-mprear.filtered_curR,3); SerialRef.print(",");
SerialRef.print(-fbfront.speedL_meas); SerialRef.print(","); //invert speed, because left wheels are negated
SerialRef.print(fbfront.speedR_meas); SerialRef.print(",");
@ -408,7 +408,7 @@ void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpf
SerialRef.print(fbfront.batVoltage/100.0); SerialRef.print(","); //in V
SerialRef.print(fbrear.batVoltage/100.0); SerialRef.print(","); //in V
SerialRef.print(currentAll,3); SerialRef.print(",");
SerialRef.print(-currentAll,3); SerialRef.print(","); //invert. positive current is drive current
SerialRef.print(throttle); SerialRef.print(",");
SerialRef.print(brake); SerialRef.println();
}