Diff: CAN/function_CAN.cpp

Revision:

62:456f87e3124e

Parent:

60:64181f1d3e60

Child:

63:376a20d2fbfd

--- a/CAN/function_CAN.cpp	Mon Apr 13 11:55:09 2020 +0000
+++ b/CAN/function_CAN.cpp	Tue Apr 28 09:19:26 2020 +0000
@@ -716,8 +716,8 @@
             vel.ref = (double)temp_vel * 10.0f;
         }
         else { //Linear Actuator
-            pos.ref = (double)temp_pos * 4.0f;
-            vel.ref = (double)temp_vel * 100.0f;
+            pos.ref = (double)temp_pos * 10.0f;
+            vel.ref = (double)temp_vel * 256.0f;
         }
         
         torq.ref = (double)temp_torq * 0.1f;
@@ -1339,15 +1339,26 @@
     can.write(temp_msg);
 }
 
-void CAN_TX_TORQUE(int16_t t_valve_pos, int16_t t_vout) {
+//void CAN_TX_TORQUE(int16_t t_valve_pos, int16_t t_vout) {
+//    CANMessage temp_msg;
+//
+//    temp_msg.id = CID_TX_TORQUE;
+//    temp_msg.len = 4;
+//    temp_msg.data[0] = (uint8_t) t_valve_pos;
+//    temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
+//    temp_msg.data[2] = (uint8_t) t_vout;
+//    temp_msg.data[3] = (uint8_t) (t_vout >> 8);
+//
+//    can.write(temp_msg);
+//}
+
+void CAN_TX_TORQUE(int16_t t_valve_pos) {
     CANMessage temp_msg;
 
     temp_msg.id = CID_TX_TORQUE;
-    temp_msg.len = 4;
+    temp_msg.len = 2;
     temp_msg.data[0] = (uint8_t) t_valve_pos;
     temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
-    temp_msg.data[2] = (uint8_t) t_vout;
-    temp_msg.data[3] = (uint8_t) (t_vout >> 8);
 
     can.write(temp_msg);
 }