Diff: function_utilities/function_utilities.cpp

Revision:

33:91b17819ec30

Parent:

32:4b8c0fedaf2c

Child:

34:bb2ca2fc2a8e

--- a/function_utilities/function_utilities.cpp	Mon Nov 11 09:48:00 2019 +0000
+++ b/function_utilities/function_utilities.cpp	Tue Nov 12 11:29:36 2019 +0000
@@ -53,8 +53,8 @@
 float I_GAIN_JOINT_TORQUE = 0.0;
 float D_GAIN_JOINT_TORQUE = 0.0;
 
-int16_t VALVE_DEADZONE_PLUS;
-int16_t VALVE_DEADZONE_MINUS;
+float VALVE_DEADZONE_PLUS;
+float VALVE_DEADZONE_MINUS;
 
 int16_t VELOCITY_COMP_GAIN;
 int16_t COMPLIANCE_GAIN;
@@ -166,9 +166,11 @@
 
 int VALVE_MAX_POS;
 int VALVE_MIN_POS;
-int DDV_CENTER;
+float DDV_CENTER;
 int VALVE_POS_NUM;
 float VALVE_CENTER_OFFSET;
+float VALVE_DZ_MINUS_OFFSET;
+float VALVE_DZ_PLUS_OFFSET;
 int VALVE_CENTER_OFFSET_times10;
 
 int TMR3_COUNT_FINDHOME;
@@ -367,8 +369,8 @@
     writer.write(RID_P_GAIN_JOINT_TORQUE,(int) P_GAIN_JOINT_TORQUE);
     writer.write(RID_I_GAIN_JOINT_TORQUE,(int) I_GAIN_JOINT_TORQUE);
     writer.write(RID_D_GAIN_JOINT_TORQUE,(int) D_GAIN_JOINT_TORQUE);
-    writer.write(RID_VALVE_DEADZONE_PLUS,(int) VALVE_DEADZONE_PLUS);
-    writer.write(RID_VALVE_DEADZONE_MINUS,(int) VALVE_DEADZONE_MINUS);
+    writer.write(RID_VALVE_DEADZONE_PLUS,(int) (VALVE_DEADZONE_PLUS * 10.0f));
+    writer.write(RID_VALVE_DEADZONE_MINUS,(int) (VALVE_DEADZONE_MINUS * 10.0f));
     writer.write(RID_VELOCITY_COMP_GAIN,(int) VELOCITY_COMP_GAIN);
     writer.write(RID_COMPLIANCE_GAIN,(int) COMPLIANCE_GAIN);
     writer.write(RID_VALVE_CNETER,(int) VALVE_CENTER);
@@ -416,9 +418,8 @@
     }
     writer.write(RID_VALVE_MAX_POS, (int) VALVE_MAX_POS);
     writer.write(RID_VALVE_MIN_POS, (int) VALVE_MIN_POS);
-    writer.write(RID_DDV_CENTER, (int) DDV_CENTER);
+    writer.write(RID_DDV_CENTER, (int) (DDV_CENTER * 10.0f));
     writer.write(RID_VALVE_POS_NUM, (int) VALVE_POS_NUM);
-    writer.write(RID_VALVE_CENTER_OFFSET, (int) (VALVE_CENTER_OFFSET * 10.0f));
 
     writer.close();    
     
@@ -426,7 +427,7 @@
 
 void ROM_CALL_DATA(void) {
     BNO = flashReadInt(Rom_Sector, RID_BNO);
-    BNO = 11;
+    BNO = 5;
     OPERATING_MODE = flashReadInt(Rom_Sector, RID_OPERATING_MODE);
     CAN_FREQ = flashReadInt(Rom_Sector, RID_CAN_FREQ);
     DIR_JOINT_ENC = flashReadInt(Rom_Sector, RID_JOINT_ENC_DIR);
@@ -445,8 +446,8 @@
     P_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_TORQUE);
     I_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_TORQUE);
     D_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_TORQUE);
-    VALVE_DEADZONE_PLUS = flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_PLUS);
-    VALVE_DEADZONE_MINUS = flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_MINUS);
+    VALVE_DEADZONE_PLUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_PLUS)) * 0.1f;
+    VALVE_DEADZONE_MINUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_MINUS)) * 0.1f;
     VELOCITY_COMP_GAIN = flashReadInt(Rom_Sector, RID_VELOCITY_COMP_GAIN);
     COMPLIANCE_GAIN = flashReadInt(Rom_Sector, RID_COMPLIANCE_GAIN);
     VALVE_CENTER = flashReadInt(Rom_Sector, RID_VALVE_CNETER);
@@ -496,9 +497,8 @@
     }
     VALVE_MAX_POS = flashReadInt(Rom_Sector, RID_VALVE_MAX_POS);
     VALVE_MIN_POS = flashReadInt(Rom_Sector, RID_VALVE_MIN_POS);
-    DDV_CENTER = flashReadInt(Rom_Sector, RID_DDV_CENTER);
+    DDV_CENTER = (float) (flashReadInt(Rom_Sector, RID_DDV_CENTER)) * 0.1f;
     VALVE_POS_NUM = flashReadInt(Rom_Sector, RID_VALVE_POS_NUM);
-    VAVLE_CENTER_OFFSET = (float) (flashReadInt(Rom_Sector, RID_VALVE_CENTER_OFFSET)) * 0.1f;
 
 }