asdgas
Dependencies: mbed Eigen FastPWM
Diff: CAN/function_CAN.cpp
- Revision:
- 63:376a20d2fbfd
- Parent:
- 62:456f87e3124e
- Child:
- 65:549e0426cd91
diff -r 456f87e3124e -r 376a20d2fbfd CAN/function_CAN.cpp --- a/CAN/function_CAN.cpp Tue Apr 28 09:19:26 2020 +0000 +++ b/CAN/function_CAN.cpp Thu May 07 03:52:28 2020 +0000 @@ -262,10 +262,10 @@ ROM_RESET_DATA(); } else if (msg.data[1] == 3) { - K_SPRING = (int16_t) (msg.data[2] | msg.data[3] << 8); - D_DAMPER = (int16_t) (msg.data[4] | msg.data[5] << 8); + K_SPRING = (float) (((float) ((int16_t) (msg.data[2] | msg.data[3] << 8))) * 0.1f); + D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] | msg.data[5] << 8))) * 0.01f); - ROM_RESET_DATA(); +// ROM_RESET_DATA(); //For Real-time changing } break; @@ -894,8 +894,8 @@ sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE); sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE); } else if (t_type == 3) { - sendPgain = (int16_t) (K_SPRING); - sendIgain = (int16_t) (D_DAMPER); + sendPgain = (int16_t) (K_SPRING * 10.0f); + sendIgain = (int16_t) (D_DAMPER * 100.0f); } CANMessage temp_msg;