Diff: function_utilities/function_utilities.cpp

Revision:

63:376a20d2fbfd

Parent:

62:456f87e3124e

Child:

64:368bcd2a230a

diff -r 456f87e3124e -r 376a20d2fbfd function_utilities/function_utilities.cpp
--- a/function_utilities/function_utilities.cpp	Tue Apr 28 09:19:26 2020 +0000
+++ b/function_utilities/function_utilities.cpp	Thu May 07 03:52:28 2020 +0000
@@ -36,11 +36,11 @@
 float I_GAIN_JOINT_POSITION = 0.0f;
 float D_GAIN_JOINT_POSITION = 0.0f;
 float P_GAIN_JOINT_TORQUE = 0.0f;
-float I_GAIN_JOINT_TORQUE = 0.0;
-float D_GAIN_JOINT_TORQUE = 0.0;
+float I_GAIN_JOINT_TORQUE = 0.0f;
+float D_GAIN_JOINT_TORQUE = 0.0f;
 
-int16_t K_SPRING = 0.0;
-int16_t D_DAMPER = 0.0;
+float K_SPRING = 0.0f;
+float D_DAMPER = 0.0f;
 int16_t flag_delay_test = 0;
 
 //float P_GAIN_VALVE_POSITION_OPP = 0.0f;
@@ -322,6 +322,9 @@
 int timer_while = 0;
 int while_index = 0;
 
+float K_LPF = 0.0f;
+float D_LPF = 0.0f;
+
 //int h1, h2, h3, h4, h5, h6;
 
 /*******************************************************************************
@@ -455,9 +458,10 @@
     OPERATING_MODE = flashReadInt(Rom_Sector, RID_OPERATING_MODE);
     SENSING_MODE = flashReadInt(Rom_Sector, RID_SENSING_MODE);
     CURRENT_CONTROL_MODE = flashReadInt(Rom_Sector, RID_CURRENT_CONTROL_MODE);
-    CURRENT_CONTROL_MODE = 1;
+    CURRENT_CONTROL_MODE =1;
     FLAG_VALVE_DEADZONE = flashReadInt(Rom_Sector, RID_FLAG_VALVE_DEADZONE);
     CAN_FREQ = flashReadInt(Rom_Sector, RID_CAN_FREQ);
+    CAN_FREQ = 500;
     DIR_JOINT_ENC = flashReadInt(Rom_Sector, RID_JOINT_ENC_DIR);
     DIR_VALVE = flashReadInt(Rom_Sector, RID_VALVE_DIR);
     DIR_VALVE_ENC = flashReadInt(Rom_Sector, RID_VALVE_ENC_DIR);
@@ -590,6 +594,7 @@
 
     spi_enc_set_clear();
     CUR_POSITION = 0;
+    pos.sen = 0.0f;
     ENC_pos_old = ENC_pos_cur = 0;
 
 }
@@ -599,6 +604,7 @@
     spi_enc_set_clear();
     enc_offset = value_e;
     CUR_POSITION = value_e;
+    pos.sen = (float) value_e;
     ENC_pos_old = ENC_pos_cur = value_e;
 
 }