more detailed steering report

hytech-racing · May 22, 2024 · bb03837 · bb03837
1 parent 2b56423
commit bb03837
Showing 1 changed file with 12 additions and 3 deletions.
diff --git a/src/main.cpp b/src/main.cpp
@@ -328,10 +328,19 @@ void loop()
 
     if (curr_tick.triggers.trigger5)
     {
-        Serial.print("Steering system angle: ");
+        Serial.print("Steering system reported angle (deg): ");
         Serial.println(steering_system.getSteeringSystemData().angle);
-        Serial.print("Steering system status: ");
-        Serial.println(static_cast<uint8_t>(steering_system.getSteeringSystemData().status));
+        Serial.print("Primary sensor angle: ");
+        Serial.println(steering1.convert().angle);
+        Serial.print("Secondary sensor angle: ");
+        Serial.print(a1.get().conversions[MCU15_STEERING_CHANNEL].conversion);
+        Serial.print("  raw: ");
+        Serial.println(a1.get().conversions[MCU15_STEERING_CHANNEL].raw);
+        Serial.print("Sensor divergence: ");
+        Serial.println(steering1.convert().angle - a1.get().conversions[MCU15_STEERING_CHANNEL].conversion);
+        Serial.println();
+
+        Serial.println();
     }
 
 }