Diff: main.cpp

Revision:

41:abbd4e2af68b

Parent:

40:3f2c0619c8c4

Child:

42:1cf66990ccab

--- a/main.cpp	Thu Dec 19 11:39:31 2019 +0000
+++ b/main.cpp	Mon Dec 23 04:05:31 2019 +0000
@@ -996,7 +996,6 @@
                     int T_move = 2*TMR_FREQ_5k;
                     pos.ref_home_pos = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
                     vel.ref_home_pos = 0.0f;
-                    CAN_TX_PRES((int16_t)(pos.ref_home_pos), (int16_t) (6));
 
                     // input for position control
                     pos.err = pos.ref_home_pos - (float)pos.sen;
@@ -1677,11 +1676,8 @@
         //CAN ----------------------------------------------------------------------
         if (flag_data_request[0] == HIGH) {
             //position+velocity
-            CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
-            //CAN_TX_POSITION((int32_t) valve_pos.ref, (int32_t) 0);
-            //CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[10]);
-            //pc.printf("can good");
-            //                                    CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
+            //CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
+            CAN_TX_POSITION((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/400.0f), (int16_t) torq.sen);
         }
 
         if (flag_data_request[1] == HIGH) {