Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

Dependencies:   mbed FastPWM

Diff: main.cpp

Revision:
61:7572762e3837
Parent:
60:8855962234b0
Child:
62:851cf7b7aa7a
diff -r 8855962234b0 -r 7572762e3837 main.cpp
--- a/main.cpp	Wed Apr 08 05:36:22 2020 +0000
+++ b/main.cpp	Fri Apr 10 02:00:46 2020 +0000
@@ -462,7 +462,7 @@
                 //if(TMR3_COUNT_TEST % (int) (50) == 0){
                 pos.err = pos.ref - pos.sen; //[pulse]
                 vel.err = vel.ref - vel.sen; //[pulse/s]
-                torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
+                torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f - D_DAMPER * vel.sen * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
                     //torq_ref_logging = torq_ref
                 //}