Diff: main.cpp

Revision:

60:8855962234b0

Parent:

59:0ad14153b58f

Child:

61:7572762e3837

diff -r 0ad14153b58f -r 8855962234b0 main.cpp
--- a/main.cpp	Tue Mar 10 04:50:04 2020 +0000
+++ b/main.cpp	Wed Apr 08 05:36:22 2020 +0000
@@ -206,6 +206,7 @@
 //    dac_2 = PRES_B_VREF / 3.3f;
     dac_1 = TORQUE_VREF / 3.3f;
     dac_2 = 0.0f;
+    dac_1 = 0.0f;
     make_delay();
 
     for (int i=0; i<50; i++) {
@@ -1010,8 +1011,10 @@
 
                     if ((cnt_vel_findhome < 3*TMR_FREQ_5k) &&  cnt_findhome <= 10*TMR_FREQ_5k) { // wait for 3sec
                         //REFERENCE_MODE = MODE_REF_NO_ACT;
-                        if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f;
-                        else pos.ref_home_pos = pos.ref_home_pos - 2.0f;
+                        //if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + (float) ENC_PULSE_PER_POSITION / (float) 512.0f;
+                        if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 8.0f;
+//                        else pos.ref_home_pos = pos.ref_home_pos - (float) ENC_PULSE_PER_POSITION / (float) 512.0f;
+                        else pos.ref_home_pos = pos.ref_home_pos - 8.0f;
                         pos.err = pos.ref_home_pos - pos.sen;
                         float VALVE_POS_RAW_POS_FB = 0.0f;
                         VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
@@ -1654,9 +1657,9 @@
                     }
                 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
                     if (SENSING_MODE == 0) {
-                        CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f));
+                        CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen*10.0f));
                     } else if (SENSING_MODE == 1) {
-                        CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen*10.0f), (int16_t) (pres_B.sen*10.0f));
+                        CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (pres_A.sen*10.0f), (int16_t) (pres_B.sen*10.0f));
                     }
                 }
             }