Diff: function_utilities/function_utilities.cpp

Revision:

53:4d66fb1c5dd9

Parent:

52:8ea76864368a

--- a/function_utilities/function_utilities.cpp	Wed Feb 19 05:48:57 2020 +0000
+++ b/function_utilities/function_utilities.cpp	Tue Feb 25 07:39:17 2020 +0000
@@ -22,7 +22,8 @@
 uint8_t SETTING_SWITCH = 0;
 uint8_t SETTING_SWITCH_OLD = 0;
 uint8_t REFERENCE_MODE = 0;
-uint16_t CAN_FREQ = 500;
+int16_t CAN_FREQ = 500;
+int CAN_FREQUENCY = 500;
 int16_t DIR_JOINT_ENC = 0;
 int16_t DIR_VALVE = 0;
 int16_t DIR_VALVE_ENC = 0;
@@ -42,6 +43,7 @@
 
 int16_t K_SPRING = 0.0;
 int16_t D_DAMPER = 0.0;
+int16_t flag_delay_test = 0;
 
 //float P_GAIN_VALVE_POSITION_OPP = 0.0f;
 //float I_GAIN_VALVE_POSITION_OPP= 0.0f;
@@ -129,7 +131,8 @@
 
 unsigned int    TMR2_COUNT_LED1;
 unsigned int    TMR2_COUNT_LED2;
-unsigned int    TMR2_COUNT_CAN_TX;
+unsigned int    TMR2_COUNT_CAN_TX = 0;
+unsigned int    TMR3_COUNT_TEST = 0;
 
 int num_err;
 int flag_err[8];
@@ -549,9 +552,9 @@
     ENC_pos_cur = spi_enc_read();
     ENC_pos_diff = ENC_pos_cur - ENC_pos_old;
 
-    if (ENC_pos_diff > 1300 || ENC_pos_diff<-1300) {
-        //MOT_E_STOP(0);
-    }
+//    if (ENC_pos_diff > 1300 || ENC_pos_diff<-1300) {
+//        //MOT_E_STOP(0);
+//    }
 
     ENC_VEL_RAW = (int32_t) (ENC_pos_diff * TMR_FREQ_5k);