Diff: globalFlags.cpp

Revision:

27:ff63c23bc689

Parent:

26:732bc37fbefd

Child:

29:eb3d72dd94aa

--- a/globalFlags.cpp	Thu Dec 13 12:15:35 2018 +0000
+++ b/globalFlags.cpp	Fri Dec 14 12:32:27 2018 +0000
@@ -26,6 +26,8 @@
 //typAccel        gf_MtReq[4] ={0,}   ;//モーター更新
 typAccel        gf_AxReq[2]           ;//アクセル更新フラグ
 typAccel        gf_MtReq[4]           ;//モーター更新フラグ
+typAccel        gf_MtReqOfs[4]           ;//モーターオフセット更新フラグ
+typAccel        gf_MtReqDct[8]           ;//ダイレクト(FPGA関数直接呼び出し)モーター更新フラグ
 
 enmHbState      gf_State = SLEEP;
 
@@ -50,13 +52,16 @@
 
     gf_AxReq[0].dt = 0;
     gf_AxReq[1].dt = 0;
-    gf_MtReq[0].dt = 0;
-    gf_MtReq[1].dt = 0;
-    gf_MtReq[2].dt = 0;
-    gf_MtReq[3].dt = 0;
+    for(int i=0; i<4;++i){
+        gf_MtReq[i].dt = 0;
+        gf_MtReqOfs[i].dt = 0;
+    }
+    for(int i = 0; i < 8; ++i){
+        gf_MtReqDct[i].dt = 0;
+    }
     gf_State = SLEEP;
-    g_PidPara.PP = 4;
-    g_PidPara.P = 4;
+    g_PidPara.PP = 2;
+    g_PidPara.P = 2;
     g_PidPara.I = 0;
     g_PidPara.D = 0;
     g_PidPara.IMax = 2000;