ENPRA_Foot / Mbed 2 deprecated Nucleo_Motor_5_1

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Dependencies:   mbed M3_CAN_mbed

Files at this revision

API Documentation at this revision

Revision 4:5878229a7dfa, committed 2018-12-25

Comitter:
Keith_N
Date:
Tue Dec 25 11:34:30 2018 +0000
Parent:
3:587916e9f3d0
Commit message:
changed parameters of a[i]

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Tue Dec 25 08:24:47 2018 +0000
+++ b/main.cpp	Tue Dec 25 11:34:30 2018 +0000
@@ -27,7 +27,12 @@
     char tmp[4];
     //led.period_ms(10);
     
+    Nin.baud(115200);
+    
     m3.write(0, RG_SOFT_SRV,RG_DEFAULT, 1);
+    m3.write(0, RG_CYCLE,RG_COMMUNICATE, 500000);
+    m3.write(0, RG_CYCLE,RG_INTERPOLATE, 100);
+    m3.write(0, RG_STATE,RG_DEFAULT, 11);
 
    while(1){ 
 
@@ -65,9 +70,9 @@
             float k = 0.1;
             //a+=(int32_t)(30000*diff);
             if(force[i]*k-data[i]>=0){
-            a[i]+=3000*(force[i]*k-data[i]);   
+            a[i]+=90000*(force[i]*k-data[i]);   
             }else{
-            a[i]-=12000*(data[i]-force[i]*k);          
+            a[i]-=810000*(data[i]-force[i]*k);          
             }
                      
             if(a[i]>300000)a[i]=300000;              
@@ -79,7 +84,25 @@
            if(i==4) pc.printf("\n\r"); 
             
         //wait(0.001);
-        }  
+        } 
+/*        for(int i = 1;i <= 4; i++){
+            float k = 0.1;
+            //a+=(int32_t)(30000*diff);
+            if(force[i]*k-data[i]>=0){
+            a[i]+=90000*(0.5f-data[i]);   
+            }else{
+            a[i]-=90000*(data[i]-0.5f);          
+            }
+                     
+            if(a[i]>300000)a[i]=300000;              
+            else if(a[i]<0)a[i]=0;  
+                        
+            m3.write(i, RG_REFERENCE,RG_POSITION,a[i]*(-1));
+                     
+           pc.printf("No.%d, Stroke:%ld mm ", i, a[i]*2/36000);      
+           if(i==4) pc.printf("\n\r"); 
+         } */  
+
     }
 }