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asdgas
Dependencies: mbed Eigen FastPWM
Diff: function_utilities/function_utilities.cpp
- Revision:
- 46:2694daea349b
- Parent:
- 45:35fa6884d0c6
- Child:
- 48:889798ff9329
--- a/function_utilities/function_utilities.cpp Thu Jan 16 12:05:15 2020 +0000 +++ b/function_utilities/function_utilities.cpp Mon Jan 20 08:05:21 2020 +0000 @@ -37,6 +37,9 @@ float I_GAIN_JOINT_TORQUE = 0.0; float D_GAIN_JOINT_TORQUE = 0.0; +int16_t K_SPRING = 0.0; +int16_t D_DAMPER = 0.0; + //float P_GAIN_VALVE_POSITION_OPP = 0.0f; //float I_GAIN_VALVE_POSITION_OPP= 0.0f; //float D_GAIN_VALVE_POSITION_OPP= 0.0f; @@ -421,6 +424,9 @@ writer.write(RID_VALVE_MIN_POS, (int) VALVE_MIN_POS); writer.write(RID_DDV_CENTER, (int) (DDV_CENTER * 10.0f)); writer.write(RID_VALVE_POS_NUM, (int) VALVE_POS_NUM); + + writer.write(RID_K_SPRING, (int) K_SPRING); + writer.write(RID_D_DAMPER, (int) D_DAMPER); writer.close(); @@ -501,6 +507,9 @@ VALVE_MIN_POS = flashReadInt(Rom_Sector, RID_VALVE_MIN_POS); DDV_CENTER = (float) (flashReadInt(Rom_Sector, RID_DDV_CENTER)) * 0.1f; VALVE_POS_NUM = flashReadInt(Rom_Sector, RID_VALVE_POS_NUM); + + K_SPRING = flashReadInt(Rom_Sector, RID_K_SPRING); + D_DAMPER = flashReadInt(Rom_Sector, RID_D_DAMPER); }