Sungwoo Kim
/
HydraulicControlBoard_Base
distribution-201229
Diff: function_utilities/function_utilities.cpp
- Revision:
- 72:3436ce769b1e
- Parent:
- 69:3995ffeaa786
- Child:
- 73:f80dc3970c99
diff -r 381188d044f4 -r 3436ce769b1e function_utilities/function_utilities.cpp --- a/function_utilities/function_utilities.cpp Mon May 18 01:47:33 2020 +0000 +++ b/function_utilities/function_utilities.cpp Tue May 19 01:36:27 2020 +0000 @@ -36,11 +36,15 @@ 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; +float P_GAIN_JOINT_TORQUE_FF = 0.0f; +float I_GAIN_JOINT_TORQUE_FF = 0.0f; +float D_GAIN_JOINT_TORQUE_FF = 0.0f; int16_t K_SPRING = 0.0; int16_t D_DAMPER = 0.0; + int16_t flag_delay_test = 0; //float P_GAIN_VALVE_POSITION_OPP = 0.0f; @@ -326,6 +330,8 @@ float K_LPF = 0.0f; float D_LPF = 0.0f; +float torq_ref_past = 0.0f; + //const int num_input = 6; //const int num_input_array = num_input*2+1;