Diff: setting.h

Revision:

14:8e7590227d22

Parent:

13:747daba9cf59

Child:

16:903b5a4433b4

--- a/setting.h	Tue Aug 27 06:50:54 2019 +0000
+++ b/setting.h	Thu Aug 29 07:38:00 2019 +0000
@@ -181,6 +181,7 @@
 extern int16_t REF_PRES_DIFF;
 extern int16_t REF_PWM;
 extern int16_t REF_VALVE_POSITION;
+extern int16_t REF_CURRENT;
 
 extern int REF_MOVE_TIME_5k;
 extern int INIT_REF_PWM;
@@ -189,6 +190,7 @@
 extern int INIT_REF_VEL;
 extern int INIT_REF_TORQUE;
 extern int INIT_REF_PRES_DIFF;
+extern int INIT_REF_CURRENT;
 
 extern int CUR_POSITION;
 extern int CUR_VELOCITY;
@@ -239,21 +241,22 @@
 extern int DDV_CENTER;
 extern int VALVE_POS_NUM;
 
-extern int TMR2_COUNT_FINDHOME;
-extern int TMR2_COUNT_FLOWRATE;
-extern int TMR2_COUNT_DEADZONE;
-extern int TMR2_COUNT_PRES_NULL;
-extern int TMR2_COUNT_TORQUE_NULL;
-extern int TMR2_COUNT_PRES_CALIB;
-extern int TMR2_COUNT_REFERENCE;
-extern int TMR2_COUNT_JOINT;
-extern int TMR2_COUNT_ROTARY_FRIC_TUNE;
+extern int TMR3_COUNT_FINDHOME;
+extern int TMR3_COUNT_FLOWRATE;
+extern int TMR3_COUNT_DEADZONE;
+extern int TMR3_COUNT_PRES_NULL;
+extern int TMR3_COUNT_TORQUE_NULL;
+extern int TMR3_COUNT_PRES_CALIB;
+extern int TMR3_COUNT_REFERENCE;
+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 double TUNING_TIME;
 
@@ -275,11 +278,6 @@
 extern double PRES_B_NULL;
 extern double TORQUE_NULL;
 
-extern double Ref_PWM;
-extern double Ref_Valve_Pos;
-extern double Ref_Joint_Pos;
-extern double Ref_Joint_Vel;
-extern double Ref_Joint_Torq;
 extern double Ref_Valve_Pos_Old;
 
 extern int VALVE_ID_timer;
@@ -313,7 +311,7 @@
 extern char min_check; 
 
 extern double valve_pos_err, valve_pos_err_old, valve_pos_err_diff, valve_pos_err_sum;
-extern double joint_pos_err, joint_pos_err_old, joint_pos_err_diff, joint_pos_err_sum;
+extern double joint_pos_err, joint_pos_err_old, joint_pos_err_diff, joint_pos_err_diff_fil, joint_pos_err_sum;
 extern double joint_torq_err, joint_torq_err_old, joint_torq_err_diff, joint_torq_err_sum;
 extern double VALVE_PWM_RAW_POS, VALVE_PWM_RAW_TORQ;
 
@@ -357,4 +355,11 @@
 
 extern double freq_fric_tune;
 
-extern bool FLAG_VALVE_OUTPUT_CALIB;
\ No newline at end of file
+extern bool FLAG_VALVE_OUTPUT_CALIB;
+
+extern uint32_t TMR3_COUNT_CAN_TX;
+
+extern double I_REF;
+extern int TMR3_COUNT_IREF;
+extern double CUR_CURRENT;
+extern double u_CUR[3];
\ No newline at end of file