Diff: setting.h

Revision:

62:851cf7b7aa7a

Parent:

59:0ad14153b58f

Child:

63:a3c7f31742c9

--- a/setting.h	Fri Apr 10 02:00:46 2020 +0000
+++ b/setting.h	Tue May 12 06:23:22 2020 +0000
@@ -110,13 +110,11 @@
 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;
@@ -134,8 +132,8 @@
 extern float I_GAIN_JOINT_TORQUE;
 extern float D_GAIN_JOINT_TORQUE;
 
-extern int16_t K_SPRING;
-extern int16_t D_DAMPER;
+extern float K_SPRING;
+extern float D_DAMPER;
 
 extern int16_t flag_delay_test;
 
@@ -167,6 +165,7 @@
 extern int16_t PISTON_AREA_A;
 extern int16_t PISTON_AREA_B;
 extern float PISTON_AREA_alpha;
+extern float alpha3;
 
 
 extern int16_t PRES_SUPPLY;
@@ -178,8 +177,8 @@
 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;
@@ -221,7 +220,6 @@
 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;
@@ -240,25 +238,20 @@
 
 extern int MODE_POS_FT_TRANS;
 
-////////////////////////////////////////////////////////////////////////////////
-////////////////////////////// SEUNGHOON ADD ///////////////////////////////////
-////////////////////////////////////////////////////////////////////////////////
-
+extern float CUR_CURRENT_mA;
 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];
@@ -266,9 +259,7 @@
 
 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;
@@ -285,13 +276,6 @@
 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;
@@ -329,7 +313,6 @@
 extern int ID_index_array[50];
 extern int first_check;
 extern float init_time;
-extern int VEL_POINT;
 extern int DZ_case;
 extern int START_POS;
 extern int FINAL_POS;
@@ -371,6 +354,8 @@
 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;
@@ -389,11 +374,20 @@
 
 extern float freq_fric_tune;
 
-extern bool FLAG_VALVE_OUTPUT_CALIB;
-
 extern uint32_t TMR3_COUNT_CAN_TX;
 
-extern float I_REF;
+// 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 int TMR3_COUNT_IREF;
 extern float CUR_CURRENT;
 extern float u_CUR[3];
@@ -405,7 +399,23 @@
 
 extern float alpha_trans;
 
-//extern int h1, h2, h3, h4, h5, h6;
+
+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 float K_LPF;
+extern float D_LPF;
 
 
 
@@ -423,3 +433,5 @@
 
 
 
+
+