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add Iq control effort report

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This commit is contained in:
Oskar Weigl
2017-12-19 20:56:36 -08:00
parent 138ad2037a
commit c14bc7b871
1 changed files with 2 additions and 0 deletions
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Firmware/MotorControl/commands.cpp
+2
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@@ -123,6 +123,7 @@ const Endpoint endpoints[] = {
Endpoint::make_property("i_gain", &motors[0].current_control.i_gain),
Endpoint::make_property("v_current_control_integral_d", &motors[0].current_control.v_current_control_integral_d),
Endpoint::make_property("v_current_control_integral_q", &motors[0].current_control.v_current_control_integral_q),
Endpoint::make_property("Iq_command", &motors[0].current_control.Iq),
Endpoint::make_property("Ibus", const_cast<const float*>(&motors[0].current_control.Ibus)),
Endpoint::close_tree(),
Endpoint::make_object("encoder"),
@@ -176,6 +177,7 @@ const Endpoint endpoints[] = {
Endpoint::make_property("i_gain", &motors[1].current_control.i_gain),
Endpoint::make_property("v_current_control_integral_d", &motors[1].current_control.v_current_control_integral_d),
Endpoint::make_property("v_current_control_integral_q", &motors[1].current_control.v_current_control_integral_q),
Endpoint::make_property("Iq_command", &motors[1].current_control.Iq),
Endpoint::make_property("Ibus", const_cast<const float*>(&motors[1].current_control.Ibus)),
Endpoint::close_tree(),
Endpoint::make_object("encoder"),