Diff: setting.h

Revision:

56:6f50d9d3bfee

Parent:

55:b25725257569

Child:

57:f4819de54e7a

--- a/setting.h	Wed Feb 26 12:51:52 2020 +0000
+++ b/setting.h	Tue Mar 03 12:27:53 2020 +0000
@@ -110,11 +110,13 @@
 extern uint8_t CONTROL_MODE;
 extern uint8_t OPERATING_MODE;
 extern uint8_t SENSING_MODE;
-extern uint8_t CONTROL_UTILITY_MODE;
 extern uint8_t CURRENT_CONTROL_MODE;
 extern uint8_t FLAG_VALVE_DEADZONE;
+extern uint8_t SETTING_SWITCH;
+extern uint8_t SETTING_SWITCH_OLD;
 extern uint8_t REFERENCE_MODE;
 extern int16_t CAN_FREQ;
+extern int CAN_FREQUENCY;
 extern int16_t DIR_JOINT_ENC;
 extern int16_t DIR_VALVE;
 extern int16_t DIR_VALVE_ENC;
@@ -176,8 +178,8 @@
 extern int16_t STROKE;
 
 
-//extern int16_t VALVE_LIMIT_PLUS;
-//extern int16_t VALVE_LIMIT_MINUS;
+extern int16_t VALVE_LIMIT_PLUS;
+extern int16_t VALVE_LIMIT_MINUS;
 
 extern float ENC_PULSE_PER_POSITION;
 extern float TORQUE_SENSOR_PULSE_PER_TORQUE;
@@ -219,6 +221,7 @@
 extern float CUR_TORQUE;
 extern float CUR_PRES_A;
 extern float CUR_PRES_B;
+extern int CUR_PWM;
 extern int CUR_VALVE_POSITION;
 
 extern unsigned int    TMR2_COUNT_LED1;
@@ -237,20 +240,25 @@
 
 extern int MODE_POS_FT_TRANS;
 
-extern float CUR_CURRENT_mA;
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////// SEUNGHOON ADD ///////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+
 extern float CUR_PRES_A_BAR;
 extern float CUR_PRES_B_BAR;
 extern float CUR_TORQUE_NM;
 extern float CUR_TORQUE_NM_PRESS;
 
 extern float PRES_A_VREF;
+extern float PRES_A_VREF_TEST;
 extern float PRES_B_VREF;
+extern float PRES_B_VREF_TEST;
 extern float TORQUE_VREF;
 
 extern float VALVE_PWM_RAW_FB;
 extern float VALVE_PWM_RAW_FF;
-extern float VALVE_PWM_RAW;
 extern int VALVE_PWM_VALVE_DZ;
+extern int VALVE_INPUT_PWM;
 
 extern float VALVE_GAIN_LPM_PER_V[10];
 extern float VALVE_POS_VS_PWM[25];
@@ -258,7 +266,9 @@
 
 extern int VALVE_MAX_POS;
 extern int VALVE_MIN_POS;
+extern float DDV_CENTER;
 extern int VALVE_POS_NUM;
+extern int VALVE_CENTER_OFFSET_times10;
 extern float VALVE_CENTER_OFFSET;
 extern float VALVE_DZ_MINUS_OFFSET;
 extern float VALVE_DZ_PLUS_OFFSET;
@@ -275,6 +285,13 @@
 extern int TMR3_COUNT_JOINT;
 extern int TMR3_COUNT_ROTARY_FRIC_TUNE;
 
+extern bool FLAG_REFERENCE_VALVE_PWM;
+extern bool FLAG_REFERENCE_VALVE_POSITION;
+extern bool FLAG_REFERENCE_JOINT_POSITION;
+extern bool FLAG_REFERENCE_JOINT_TORQUE;
+extern bool FLAG_REFERENCE_PRES_DIFF;
+extern bool FLAG_REFERENCE_CURRENT;
+
 extern float TUNING_TIME;
 
 extern float REFERENCE_FREQ;
@@ -354,8 +371,6 @@
 extern int fl_temp_cnt2;
 extern int cur_vel_sum;
 
-extern float Cur_Valve_Open_pulse;
-
 // find home
 extern int CUR_VELOCITY_OLD;
 extern int cnt_findhome;
@@ -374,20 +389,11 @@
 
 extern float freq_fric_tune;
 
+extern bool FLAG_VALVE_OUTPUT_CALIB;
+
 extern uint32_t TMR3_COUNT_CAN_TX;
 
-// Current Control Variables
-extern double I_REF;
-extern double I_REF_fil;
-extern double I_ERR;
-extern double I_ERR_INT;
-extern double I_REF_fil_old;
-extern double I_REF_fil_diff;
-
-// system id
-extern int cnt_sysid;
-extern double freq_sysid_Iref;
-
+extern float I_REF;
 extern int TMR3_COUNT_IREF;
 extern float CUR_CURRENT;
 extern float u_CUR[3];
@@ -399,20 +405,7 @@
 
 extern float alpha_trans;
 
-
-extern float V_out;
-extern float V_rem;
-extern float V_MAX;
-
-extern float PWM_out;
-
-extern double K_v;
-extern double mV_PER_mA;
-extern double mV_PER_pulse;
-extern double mA_PER_pulse;
-
-extern int timer_while;
-extern int while_index;
+//extern int h1, h2, h3, h4, h5, h6;
 
 
 
@@ -430,4 +423,3 @@
 
 
 
-