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asdgas
Dependencies: mbed Eigen FastPWM
Diff: setting.h
- Revision:
- 13:747daba9cf59
- Parent:
- 11:82d8768d7351
- Child:
- 14:8e7590227d22
diff -r 6f2531038ea4 -r 747daba9cf59 setting.h --- a/setting.h Tue Aug 27 05:32:44 2019 +0000 +++ b/setting.h Tue Aug 27 06:50:54 2019 +0000 @@ -264,3 +264,97 @@ extern int MODE_JUMP_STATUS; +extern double CUR_PRES_DIFF_BAR; +extern double CUR_PRES_A_sum; +extern double CUR_PRES_B_sum; +extern double CUR_PRES_A_mean; +extern double CUR_PRES_B_mean; +extern double CUR_TORQUE_sum; +extern double CUR_TORQUE_mean; +extern double PRES_A_NULL; +extern double PRES_B_NULL; +extern double TORQUE_NULL; + +extern double Ref_PWM; +extern double Ref_Valve_Pos; +extern double Ref_Joint_Pos; +extern double Ref_Joint_Vel; +extern double Ref_Joint_Torq; +extern double Ref_Valve_Pos_Old; + +extern int VALVE_ID_timer; +extern int VALVE_DZ_timer; +extern int VALVE_FR_timer; +extern int VALVE_POS_TMP; +extern int JOINT_VEL_TMP; +extern int DDV_POS_AVG ; +extern int VALVE_POS_AVG[100]; +extern int VALVE_POS_AVG_OLD; +extern int data_num; +extern int ID_index; +extern int DZ_index; +extern int ID_index_array[100]; +extern int FR_index_array[100]; +extern int first_check; +extern double init_time; +extern int VEL_POINT; +extern int DZ_case; +extern int START_POS; +extern int FINAL_POS; +extern int DZ_DIRECTION; +extern int FIRST_DZ; +extern int SECOND_DZ; +extern int DZ_NUM; +extern int one_period_end; +extern double Ref_Vel_Test; +extern long TMR2_FOR_SLOW_LOGGING; +extern int velcount; +extern char max_check; +extern char min_check; + +extern double valve_pos_err, valve_pos_err_old, valve_pos_err_diff, valve_pos_err_sum; +extern double joint_pos_err, joint_pos_err_old, joint_pos_err_diff, joint_pos_err_sum; +extern double joint_torq_err, joint_torq_err_old, joint_torq_err_diff, joint_torq_err_sum; +extern double VALVE_PWM_RAW_POS, VALVE_PWM_RAW_TORQ; + +extern double CUR_FLOWRATE; +extern double VALVE_FF_VOLTAGE; + +extern int pos_plus_end; +extern int pos_minus_end; + +extern bool need_enc_init; + +extern int temp_time; + +extern double CUR_VELOCITY_sum; +extern double temp_vel_sum; + +extern int DZ_dir; +extern int DZ_temp_cnt; +extern int DZ_temp_cnt2; +extern int DZ_end; +extern int flag_flowrate; +extern int fl_temp_cnt; +extern int fl_temp_cnt2; +extern int cur_vel_sum; + +// find home +extern int CUR_VELOCITY_OLD; +extern int cnt_findhome; +extern int cnt_vel_findhome; +extern int FINDHOME_VELOCITY; +extern int FINDHOME_VELOCITY_OLD; +extern int FINDHOME_POSITION; +extern int FINDHOME_POSITION_OLD; + +// valve gain +extern int check_vel_pos_init; +extern int check_vel_pos_fin; +extern int check_vel_pos_interv; +extern int valve_gain_repeat_cnt; +extern double VALVE_VOLTAGE; + +extern double freq_fric_tune; + +extern bool FLAG_VALVE_OUTPUT_CALIB; \ No newline at end of file