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asdgas
Dependencies: mbed Eigen FastPWM
Diff: main.cpp
- Revision:
- 47:fdcb8bd86fd6
- Parent:
- 46:2694daea349b
- Child:
- 48:889798ff9329
diff -r 2694daea349b -r fdcb8bd86fd6 main.cpp --- a/main.cpp Mon Jan 20 08:05:21 2020 +0000 +++ b/main.cpp Tue Jan 21 13:39:27 2020 +0000 @@ -107,10 +107,10 @@ enum _CONTROL_MODE { //control mode MODE_NO_ACT = 0, //0 - MODE_VALVE_OPEN_LOOP, //1 - MODE_VALVE_POSITION_CONTROL, //2 - - MODE_JOINT_CONTROL, //3 + MODE_VALVE_POSITION_CONTROL, //1 + MODE_JOINT_CONTROL, //2 + + MODE_VALVE_OPEN_LOOP, //3 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5 @@ -483,11 +483,6 @@ break; } - case MODE_VALVE_OPEN_LOOP: { - V_out = (float) Vout.ref; - break; - } - case MODE_VALVE_POSITION_CONTROL: { VALVE_POS_CONTROL(valve_pos.ref); break; @@ -521,6 +516,11 @@ break; } + + case MODE_VALVE_OPEN_LOOP: { + V_out = (float) Vout.ref; + break; + } case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: { float VALVE_POS_RAW_POS_FB = 0.0f; // Valve Position by Position Feedback