eeprom_test

Dependencies:   mbed FastPWM

Revision:
18:b8adf1582ea3
Parent:
17:1865016ca2e7
Child:
19:23b7c1ad8683
--- a/main.cpp	Tue Sep 03 11:59:55 2019 +0000
+++ b/main.cpp	Wed Sep 04 11:02:57 2019 +0000
@@ -70,7 +70,6 @@
 int timer_while = 0;
 int while_index = 0;
 
-
 // =============================================================================
 // =============================================================================
 // =============================================================================
@@ -252,12 +251,12 @@
         REF_VALVE_POS = VALVE_MIN_POS;
     }
 
-    for(i=0; i<16; i++) {
+    for(i=0; i<24; i++) {
         if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <=  max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
             if(i==0) {
-                VALVE_PWM_RAW_FF = (double) 1000.0/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * (REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
+                VALVE_PWM_RAW_FF = (double) 1000.0 / (double) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
             } else {
-                VALVE_PWM_RAW_FF = (double) 1000.0*(ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * (REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000*ID_index_array[i-1];
+                VALVE_PWM_RAW_FF = (double) 1000.0* (double) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0* (double) ID_index_array[i-1];
             }
             break;
         }
@@ -363,7 +362,7 @@
     }
     TIM4->SR = 0x0;  // reset the status register
 }
-
+int j =0;
 unsigned long CNT_TMR3 = 0;
 double FREQ_TMR3 = (double)FREQ_5k;
 double DT_TMR3 = (double)DT_5k;
@@ -511,7 +510,7 @@
             }
 
             case MODE_VALVE_OPEN_LOOP: {
-                V_out = Vout.ref;
+                V_out = (double) Vout.ref;
                 break;
             }
 
@@ -664,7 +663,7 @@
                 if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707; // 0.0707 = 1/sqrt(200.))
                 else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707;
 
-                V_out = V_out + VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE;
+                V_out = V_out + VALVE_FF_VOLTAGE;
                 break;
             }
 
@@ -912,21 +911,21 @@
                 }
                 if (need_enc_init) {
                     if (TMR3_COUNT_DEADZONE < (int) (0.5 * (double) TMR_FREQ_5k)) {
-                        VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        V_out = VALVE_VOLTAGE_LIMIT;
                         pos_plus_end = pos.sen;
                     } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
-                        VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        V_out = -VALVE_VOLTAGE_LIMIT;
                         pos_minus_end = pos.sen;
                     } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
                     temp_time = TMR_FREQ_5k;
                 }
 
                 if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
-                    VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
+                    V_out = (double) P_GAIN_JOINT_POSITION * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
                     VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
 
                 } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9 * (double) TMR_FREQ_5k))) {
-                    VALVE_PWM_RAW = 0;
+                    V_out = 0;
                     CUR_VELOCITY_sum += CUR_VELOCITY;
                 } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
                     if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
@@ -949,13 +948,13 @@
                         if (TMR3_COUNT_DEADZONE % 20 != 0) {
                             CUR_VELOCITY_sum += CUR_VELOCITY;
                         } else {
-                            VALVE_PWM_RAW -= DZ_dir;
+                            V_out -= DZ_dir;
                             if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
                             CUR_VELOCITY_sum = 0;
                         }
                         if (DZ_temp_cnt == 5) {
-                            if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) VALVE_PWM_RAW;
-                            else VALVE_DEADZONE_PLUS = (int16_t) VALVE_PWM_RAW;
+                            if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
+                            else VALVE_DEADZONE_PLUS = (int16_t) V_out;
                             DZ_dir = -DZ_dir;
                             DZ_temp_cnt = 0;
                             DZ_temp_cnt2++;
@@ -967,7 +966,7 @@
                             VALVE_DEADZONE_PLUS = VALVE_CENTER;
                             VALVE_DEADZONE_MINUS = VALVE_CENTER;
                         }
-                        VALVE_PWM_RAW = 0;
+                        V_out = 0;
                         
                         ROM_RESET_DATA();
                         
@@ -1015,8 +1014,8 @@
                     else pos.ref = pos.ref - 1.0;
                     pos.err = pos.ref - (double) pos.sen;
                     V_out = ((double) P_GAIN_JOINT_POSITION * pos.err) * 0.01;
-                    //                if (HOMEPOS_OFFSET > 0) VALVE_PWM_RAW = 100;
-                    //                else VALVE_PWM_RAW = -100;
+                    //                if (HOMEPOS_OFFSET > 0) V_out = 100;
+                    //                else V_out = -100;
                 } else {
                     ENC_SET(HOMEPOS_OFFSET);
                     FLAG_REFERENCE_JOINT_POSITION = 1;
@@ -1093,16 +1092,16 @@
                 if (TMR3_COUNT_FLOWRATE == 0) {
                     if (pos_plus_end == pos_minus_end) need_enc_init = true;
                     else {
-                        VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        V_out = -VALVE_VOLTAGE_LIMIT;
                         temp_time = (int) (0.5 * (double) TMR_FREQ_5k);
                     }
                 }
                 if (need_enc_init) {
                     if (TMR3_COUNT_FLOWRATE < (int) (0.5 * (double) TMR_FREQ_5k)) {
-                        VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        V_out = VALVE_VOLTAGE_LIMIT;
                         pos_plus_end = pos.sen;
                     } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
-                        VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        V_out = -VALVE_VOLTAGE_LIMIT;
                         pos_minus_end = pos.sen;
                     } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
                         need_enc_init = false;
@@ -1115,8 +1114,8 @@
                 TMR3_COUNT_FLOWRATE++;
                 if (TMR3_COUNT_FLOWRATE > temp_time) {
                     if (flag_flowrate % 2 == 0) { // (+)
-                        VALVE_VOLTAGE = 1. * (double) (flag_flowrate / 2 + 1);
-                        VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL;
+                        VALVE_VOLTAGE = 1000.0 * (double) (flag_flowrate / 2 + 1);
+                        V_out = VALVE_VOLTAGE;
                         if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
                             fl_temp_cnt++;
                         } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
@@ -1126,7 +1125,7 @@
                         }
                     } else if (flag_flowrate % 2 == 1) { // (-)
                         VALVE_VOLTAGE = -1. * (double) (flag_flowrate / 2 + 1);
-                        VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL;
+                        V_out = VALVE_VOLTAGE;
                         if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
                             fl_temp_cnt++;
                         } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
@@ -1146,7 +1145,7 @@
                         flag_flowrate++;
                     }
                     if (flag_flowrate == 10) {
-                        VALVE_PWM_RAW = 0;
+                        V_out = 0;
                         flag_flowrate = 0;
                         TMR3_COUNT_FLOWRATE = 0;
                         valve_gain_repeat_cnt++;
@@ -1205,23 +1204,23 @@
 
             case MODE_PRESSURE_SENSOR_CALIB: {
                 if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
-                    VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.;
+                    V_out = -VALVE_VOLTAGE_LIMIT;
                     if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
                         CUR_PRES_A_sum += CUR_PRES_A;
                     }
                 } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
-                    VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.;
+                    V_out = VALVE_VOLTAGE_LIMIT;
                     if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
                         CUR_PRES_B_sum += CUR_PRES_B;
                     }
                 } else {
                     CONTROL_MODE = MODE_NO_ACT;
                     TMR3_COUNT_PRES_CALIB = 0;
-                    VALVE_PWM_RAW = 0;
-                    PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((double) TMR_FREQ_5k - 1.) - PRES_A_NULL;
-                    PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.);
-                    PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((double) TMR_FREQ_5k - 1.) - PRES_B_NULL;
-                    PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.);
+                    V_out = 0;
+                    PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((double) TMR_FREQ_5k - 1.0) - PRES_A_NULL;
+                    PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.0);
+                    PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((double) TMR_FREQ_5k - 1.0) - PRES_B_NULL;
+                    PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.0);
                     CUR_PRES_A_sum = 0;
                     CUR_PRES_B_sum = 0;
                     CUR_PRES_A_mean = 0;
@@ -1238,9 +1237,9 @@
 
             case MODE_ROTARY_FRICTION_TUNING: {
                 if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4 + 3. * sin(2 * 3.14159 * 0.5 * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001 * 0.05);
-                V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL * sin(2 * 3.14159 * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001);
-                if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL;
-                else V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                V_out = PWM_out * sin(2 * 3.14159 * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001);
+                if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT;
+                else V_out = -VALVE_VOLTAGE_LIMIT;
                 TMR3_COUNT_ROTARY_FRIC_TUNE++;
                 if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
                     TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
@@ -1254,9 +1253,9 @@
                 VALVE_ID_timer = VALVE_ID_timer + 1;
 
                 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
-                    V_out = 3000 * sin(2*3.14*VALVE_ID_timer/TMR_FREQ_5k * 100);
+                    V_out = 3000.0 * sin(2*3.14*VALVE_ID_timer/TMR_FREQ_5k * 100.0);
                 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
-                    V_out = 1000*(ID_index_array[ID_index]);
+                    V_out = 1000.0*(ID_index_array[ID_index]);
                 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
                     VALVE_POS_TMP = 0;
                     data_num = 0;
@@ -1305,14 +1304,14 @@
                 VALVE_DZ_timer = VALVE_DZ_timer + 1;
                 if(first_check == 0) {
                     if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
-                        V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        V_out = VALVE_VOLTAGE_LIMIT;
                     } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
-                        V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        V_out = VALVE_VOLTAGE_LIMIT;
                         pos_plus_end = pos.sen;
                     } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
-                        V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        V_out = -VALVE_VOLTAGE_LIMIT;
                     } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
-                        V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        V_out = -VALVE_VOLTAGE_LIMIT;
                         pos_minus_end = pos.sen;
                     } else if(VALVE_DZ_timer < (int) (3.0 * (double) TMR_FREQ_5k)) {
                         V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
@@ -1372,7 +1371,7 @@
                         Ref_Valve_Pos_Old = DDV_POS_AVG;
                         DZ_NUM = 1;
                         DZ_index = 1;
-                        CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
+                        //CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
 
                     }
                 }else {
@@ -1431,7 +1430,7 @@
                         } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
                             START_POS = pos.sen;
                         } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
-                            valve_pos.ref = Ref_Valve_Pos_Old  + DZ_DIRECTION + 64 / DZ_index;
+                            valve_pos.ref = Ref_Valve_Pos_Old  + DZ_DIRECTION * 64 / DZ_index;
                             if(valve_pos.ref <= VALVE_MIN_POS) {
                                 valve_pos.ref = VALVE_MIN_POS;
                             } else if(valve_pos.ref >= VALVE_MAX_POS) {
@@ -1474,7 +1473,7 @@
                                 
                                 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
                                 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
-                                //spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER);
+                                //spi_eeprom_write(RID_DDV_CENTER, DDV_CENTER);
                                 //CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
                                 CONTROL_MODE = MODE_NO_ACT;
                                 DZ_index = 1;
@@ -1576,7 +1575,7 @@
                                 ROM_RESET_DATA();
                                 
                                 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
-                                //spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER);
+                                //spi_eeprom_write(RID_DDV_CENTER, DDV_CENTER);
                                 CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
                                 CONTROL_MODE = MODE_NO_ACT;
                                 DZ_index = 1;
@@ -1593,17 +1592,17 @@
                 VALVE_FR_timer = VALVE_FR_timer + 1;
                 if(first_check == 0) {
                     if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
-                        V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        V_out = VALVE_VOLTAGE_LIMIT;
                         CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
                     } else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
-                        V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        V_out = VALVE_VOLTAGE_LIMIT;
                         pos_plus_end = pos.sen;
                         //                    CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
                     } else if(VALVE_FR_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
-                        V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        V_out = -VALVE_VOLTAGE_LIMIT;
                     } else if(VALVE_FR_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
                         //                    CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
-                        V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+                        V_out = -VALVE_VOLTAGE_LIMIT;
                         pos_minus_end = pos.sen;
                         first_check = 1;
                         VALVE_FR_timer = 0;
@@ -1688,7 +1687,7 @@
             VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
 
             // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
-            double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/PWM_RESOL*SUPPLY_VOLTAGE*1000.0; // convert PWM duty to mV
+            double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0*1000.0; // convert PWM duty to mV
             double CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
 
             if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
@@ -1710,6 +1709,9 @@
             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);
             }
@@ -1750,7 +1752,7 @@
 
 
                 //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
-                //                        CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE));
+                //                        CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
                 //            CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
                 //            CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
                 //            CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
@@ -1780,7 +1782,7 @@
         /*******************************************************
         ***     PWM
         ********************************************************/
-        PWM_out= V_out/12000.0; // Full duty : 12000.0mV
+        PWM_out= V_out/SUPPLY_VOLTAGE; // Full duty : 12000.0mV
 
         // Saturation of output voltage to 5.0V
 //        if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
@@ -1824,10 +1826,8 @@
 //                LED = 1;
 //            LED != LED;
 //            pc.printf("A %f\n", (double) pres_A.sen);
-//            pc.printf("A %f\n", PRES_SENSOR_A_PULSE_PER_BAR);
-//            pc.printf("B %f\n", (double) pres_B.sen);
-//            pc.printf("B %f\n", PRES_SENSOR_B_PULSE_PER_BAR);
-//            pc.printf("preAVref %d\n", (int) PRES_A_VREF);
+//            CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[j]);
+//            j++;
         }
 
         /*******************************************************