Diff: main.cpp

Revision:

26:8317d883d4f2

Parent:

25:3e6b574cab5c

Child:

27:a2254a485f23

--- a/main.cpp	Fri Sep 27 04:48:14 2019 +0000
+++ b/main.cpp	Fri Sep 27 06:57:32 2019 +0000
@@ -255,7 +255,9 @@
     } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
         Ref_Valve_Pos_FF = VALVE_MIN_POS;
     }
-    Ref_Valve_Pos_FF_CAN = Ref_Valve_Pos_FF;
+    
+    //Ref_Valve_Pos_FF = DDV_CENTER;
+    
     return Ref_Valve_Pos_FF;
 }
 
@@ -1676,7 +1678,6 @@
             //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
             //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
             CAN_TX_TORQUE((int16_t) (cur.sen));
-            //CAN_TX_TORQUE((int16_t) (Ref_Valve_Pos_FF_CAN));
             //            CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
         }
 
@@ -1693,7 +1694,6 @@
         if (flag_data_request[3] == HIGH) {
             //PWM
             CAN_TX_PWM((int16_t) CUR_PWM);
-            //CAN_TX_PWM((int16_t) (Ref_Valve_Pos_FF_CAN));
             //            CAN_TX_PWM((int16_t) cnt_vel_findhome);
             //            CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
             //                        CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));