From bb038370a0f0c13cd0e1e4bcb25e634b6ee7feed Mon Sep 17 00:00:00 2001 From: CL16gtgh Date: Wed, 22 May 2024 15:10:02 -0400 Subject: [PATCH] more detailed steering report --- src/main.cpp | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/src/main.cpp b/src/main.cpp index 1b35c18fc..776eca31a 100644 --- 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(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(); } }