Diff: function_utilities/function_utilities.cpp

Revision:

13:747daba9cf59

Parent:

12:6f2531038ea4

Child:

14:8e7590227d22

--- a/function_utilities/function_utilities.cpp	Tue Aug 27 05:32:44 2019 +0000
+++ b/function_utilities/function_utilities.cpp	Tue Aug 27 06:50:54 2019 +0000
@@ -177,8 +177,100 @@
     JUMP_LANDING,                                  //4
 };
 
+double CUR_PRES_DIFF_BAR = 0.0;
+double CUR_PRES_A_sum = 0.0;
+double CUR_PRES_B_sum = 0.0;
+double CUR_PRES_A_mean = 0.0;
+double CUR_PRES_B_mean = 0.0;
+double CUR_TORQUE_sum = 0.0;
+double CUR_TORQUE_mean = 0.0;
+double PRES_A_NULL = 200.0;
+double PRES_B_NULL = 200.0;
+double TORQUE_NULL = 3900;
 
+double Ref_PWM = 0.0;
+double Ref_Valve_Pos = 0.0;
+double Ref_Joint_Pos = 0.0;
+double Ref_Joint_Vel = 0.0;
+double Ref_Joint_Torq = 0.0;
+double Ref_Valve_Pos_Old = 0.0;
 
+int VALVE_ID_timer = 0;
+int VALVE_DZ_timer = 0;
+int VALVE_FR_timer = 0;
+int VALVE_POS_TMP = 0;
+int JOINT_VEL_TMP = 0;
+int DDV_POS_AVG = 0;
+int VALVE_POS_AVG[100] = {0};
+int VALVE_POS_AVG_OLD = 0;
+int data_num = 0;
+int ID_index = 0;
+int DZ_index = 1;
+int ID_index_array[100] = {0};
+int FR_index_array[100] = {0};
+int first_check = 0;
+double init_time = 0.0;
+int VEL_POINT = 0;
+int DZ_case = 0;
+int START_POS = 0;
+int FINAL_POS = 0;
+int DZ_DIRECTION = 0;
+int FIRST_DZ = 0;
+int SECOND_DZ = 0;
+int DZ_NUM = 0;
+int one_period_end = 0;
+double Ref_Vel_Test = 0.0;
+long TMR2_FOR_SLOW_LOGGING = 0;
+int velcount = 0;
+char max_check = 0;
+char min_check = 0; 
+
+double valve_pos_err = 0.0, valve_pos_err_old = 0.0, valve_pos_err_diff = 0.0, valve_pos_err_sum = 0.0;
+double joint_pos_err = 0.0, joint_pos_err_old = 0.0, joint_pos_err_diff = 0.0, joint_pos_err_sum = 0.0;
+double joint_torq_err = 0.0, joint_torq_err_old = 0.0, joint_torq_err_diff = 0.0, joint_torq_err_sum = 0.0;
+double VALVE_PWM_RAW_POS = 0.0, VALVE_PWM_RAW_TORQ = 0.0;
+
+double CUR_FLOWRATE = 0.0;
+double VALVE_FF_VOLTAGE = 0.0;
+
+int pos_plus_end = 0;
+int pos_minus_end = 0;
+
+bool need_enc_init = false;
+
+int temp_time = 0;
+
+double CUR_VELOCITY_sum = 0.0;
+double temp_vel_sum = 0.0;
+
+int DZ_dir = 0;
+int DZ_temp_cnt = 0;
+int DZ_temp_cnt2 = 0;
+int DZ_end = 2;
+int flag_flowrate = 0;
+int fl_temp_cnt = 0;
+int fl_temp_cnt2 = 0;
+int cur_vel_sum = 0;
+
+// find home
+int CUR_VELOCITY_OLD = 0;
+int cnt_findhome = 0;
+int cnt_vel_findhome = 0;
+int FINDHOME_VELOCITY = 0;
+int FINDHOME_VELOCITY_OLD = 0;
+int FINDHOME_POSITION = 0;
+int FINDHOME_POSITION_OLD = 0;
+
+// valve gain
+int check_vel_pos_init = 0;
+int check_vel_pos_fin = 0;
+int check_vel_pos_interv = 0;
+int valve_gain_repeat_cnt = 0;
+double VALVE_VOLTAGE = 0.0;
+
+double freq_fric_tune = 1.0;
+
+bool FLAG_VALVE_OUTPUT_CALIB = false;
 
 /*******************************************************************************
  * General math functions
@@ -446,11 +538,10 @@
 
 }
 
-void ENC_SET(int32_t value) {
-
+void ENC_SET(int32_t value_e) {
     spi_enc_set_clear();
-    enc_offset = value;
-    CUR_POSITION = value;
-    ENC_pos_old = ENC_pos_cur = value;
+    enc_offset = value_e;
+    CUR_POSITION = value_e;
+    ENC_pos_old = ENC_pos_cur = value_e;
 
 }