Get debug values
Description
Get debug values including motor control parameters, profiler times, hall sensor data, and other diagnostic information.
Inputs
None
Outputs
i64 maxAcceleration: Maximum acceleration setting
i64 maxVelocity: Maximum velocity setting
i64 currentVelocity: Current velocity
i32 measuredVelocity: Measured velocity
u32 nTimeSteps: : Number of time steps left in the current move
i64 debugValue1: Debug value 1
i64 debugValue2: Debug value 2
i64 debugValue3: Debug value 3
i64 debugValue4: Debug value 4
u16 allMotorControlCalculationsProfilerTime: All motor control calculations profiler time
u16 allMotorControlCalculationsProfilerMaxTime: All motor control calculations profiler maximum time
u16 getSensorPositionProfilerTime: Get sensor position profiler time
u16 getSensorPositionProfilerMaxTime: Get sensor position profiler maximum time
u16 computeVelocityProfilerTime: Compute velocity profiler time
u16 computeVelocityProfilerMaxTime: Compute velocity profiler maximum time
u16 motorMovementCalculationsProfilerTime: Motor movement calculations profiler time
u16 motorMovementCalculationsProfilerMaxTime: Motor movement calculations profiler maximum time
u16 motorPhaseCalculationsProfilerTime: Motor phase calculations profiler time
u16 motorPhaseCalculationsProfilerMaxTime: Motor phase calculations profiler maximum time
u16 motorControlLoopPeriodProfilerTime: Motor control loop period profiler time
u16 motorControlLoopPeriodProfilerMaxTime: Motor control loop period profiler maximum time
u16 hallSensor1Voltage: Hall sensor 1 voltage
u16 hallSensor2Voltage: Hall sensor 2 voltage
u16 hallSensor3Voltage: Hall sensor 3 voltage
u32 commutationPositionOffset: Commutation position offset
u8 motorPhasesReversed: Motor phases reversed flag
i32 maxHallPositionDelta: Maximum hall position delta
i32 minHallPositionDelta: Minimum hall position delta
i32 averageHallPositionDelta: Average hall position delta
u8 motorPwmVoltage: Motor PWM voltage
Code examples
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