Diff: function_utilities/function_utilities.cpp

Revision:

36:a46e63505ed8

Parent:

35:34ce7b0347b8

Child:

37:60a116154383

diff -r 34ce7b0347b8 -r a46e63505ed8 function_utilities/function_utilities.cpp
--- a/function_utilities/function_utilities.cpp	Wed Nov 20 12:55:18 2019 +0000
+++ b/function_utilities/function_utilities.cpp	Fri Nov 22 08:03:52 2019 +0000
@@ -53,6 +53,16 @@
 float I_GAIN_JOINT_TORQUE = 0.0;
 float D_GAIN_JOINT_TORQUE = 0.0;
 
+//float P_GAIN_VALVE_POSITION_OPP = 0.0f;
+//float I_GAIN_VALVE_POSITION_OPP= 0.0f;
+//float D_GAIN_VALVE_POSITION_OPP= 0.0f;
+//float P_GAIN_JOINT_POSITION_OPP = 0.0f;
+//float I_GAIN_JOINT_POSITION_OPP = 0.0f;
+//float D_GAIN_JOINT_POSITION_OPP = 0.0f;
+//float P_GAIN_JOINT_TORQUE_OPP = 0.0f;
+//float I_GAIN_JOINT_TORQUE_OPP = 0.0;
+//float D_GAIN_JOINT_TORQUE_OPP = 0.0;
+
 float VALVE_DEADZONE_PLUS;
 float VALVE_DEADZONE_MINUS;
 
@@ -431,7 +441,7 @@
 void ROM_CALL_DATA(void)
 {
     BNO = flashReadInt(Rom_Sector, RID_BNO);
-    BNO = 0;
+    BNO = 5;
     OPERATING_MODE = flashReadInt(Rom_Sector, RID_OPERATING_MODE);
     CAN_FREQ = flashReadInt(Rom_Sector, RID_CAN_FREQ);
     DIR_JOINT_ENC = flashReadInt(Rom_Sector, RID_JOINT_ENC_DIR);