change output log to more sensible values
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@ -393,10 +393,10 @@ void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpf
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SerialRef.print(mprear.cmdL); SerialRef.print(",");
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SerialRef.print(mprear.cmdR); SerialRef.print(",");
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SerialRef.print(mpfront.filtered_curL,3); SerialRef.print(",");
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SerialRef.print(mpfront.filtered_curR,3); SerialRef.print(",");
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SerialRef.print(mprear.filtered_curL,3); SerialRef.print(",");
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SerialRef.print(mprear.filtered_curR,3); SerialRef.print(",");
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SerialRef.print(-mpfront.filtered_curL,3); SerialRef.print(","); //invert. positive current is drive current
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SerialRef.print(-mpfront.filtered_curR,3); SerialRef.print(",");
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SerialRef.print(-mprear.filtered_curL,3); SerialRef.print(",");
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SerialRef.print(-mprear.filtered_curR,3); SerialRef.print(",");
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SerialRef.print(-fbfront.speedL_meas); SerialRef.print(","); //invert speed, because left wheels are negated
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SerialRef.print(fbfront.speedR_meas); SerialRef.print(",");
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@ -408,7 +408,7 @@ void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpf
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SerialRef.print(fbfront.batVoltage/100.0); SerialRef.print(","); //in V
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SerialRef.print(fbrear.batVoltage/100.0); SerialRef.print(","); //in V
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SerialRef.print(currentAll,3); SerialRef.print(",");
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SerialRef.print(-currentAll,3); SerialRef.print(","); //invert. positive current is drive current
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SerialRef.print(throttle); SerialRef.print(",");
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SerialRef.print(brake); SerialRef.println();
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}
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