Diff: function_utilities/function_utilities.cpp

Revision:

45:35fa6884d0c6

Parent:

44:fe7d5cfd2eea

Child:

46:2694daea349b

diff -r fe7d5cfd2eea -r 35fa6884d0c6 function_utilities/function_utilities.cpp
--- a/function_utilities/function_utilities.cpp	Tue Jan 14 09:11:20 2020 +0000
+++ b/function_utilities/function_utilities.cpp	Thu Jan 16 12:05:15 2020 +0000
@@ -8,22 +8,6 @@
 int Rom_Sector = 6;
 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
 
-
-//int CID_RX_CMD = 100;
-//int CID_RX_REF_POSITION = 200;
-//int CID_RX_REF_TORQUE = 300;
-//int CID_RX_REF_PRES_DIFF = 400;
-//int CID_RX_REF_VOUT = 500;
-//int CID_RX_REF_VALVE_POSITION = 600;
-//int CID_RX_REF_CURRENT = 700;
-//
-//int CID_TX_INFO = 1100;
-//int CID_TX_POSITION = 1200;
-//int CID_TX_TORQUE = 1300;
-//int CID_TX_PRES = 1400;
-//int CID_TX_VOUT = 1500;
-//int CID_TX_VALVE_POSITION = 1600;
-
 /*******************************************************************************
  * VARIABLE
  ******************************************************************************/
@@ -150,6 +134,8 @@
 
 int flag_data_request[5];
 
+int MODE_POS_FT_TRANS = 0;
+
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////// SEUNGHOON ADD ///////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
@@ -317,6 +303,8 @@
 int FINDHOME_GOTOLIMIT = 1;
 int FINDHOME_ZEROPOSE = 2;
 
+float alpha_trans = 0.0f;
+
 //int h1, h2, h3, h4, h5, h6;
 
 /*******************************************************************************