Sungwoo Kim
/
HydraulicControlBoard_Base
distribution-201229
Diff: main.cpp
- Revision:
- 26:8317d883d4f2
- Parent:
- 25:3e6b574cab5c
- Child:
- 27:a2254a485f23
diff -r 3e6b574cab5c -r 8317d883d4f2 main.cpp --- a/main.cpp Fri Sep 27 04:48:14 2019 +0000 +++ b/main.cpp Fri Sep 27 06:57:32 2019 +0000 @@ -255,7 +255,9 @@ } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { Ref_Valve_Pos_FF = VALVE_MIN_POS; } - Ref_Valve_Pos_FF_CAN = Ref_Valve_Pos_FF; + + //Ref_Valve_Pos_FF = DDV_CENTER; + return Ref_Valve_Pos_FF; } @@ -1676,7 +1678,6 @@ //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.)); //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM)); CAN_TX_TORQUE((int16_t) (cur.sen)); - //CAN_TX_TORQUE((int16_t) (Ref_Valve_Pos_FF_CAN)); // CAN_TX_TORQUE((int16_t) DZ_temp_cnt); } @@ -1693,7 +1694,6 @@ if (flag_data_request[3] == HIGH) { //PWM CAN_TX_PWM((int16_t) CUR_PWM); - //CAN_TX_PWM((int16_t) (Ref_Valve_Pos_FF_CAN)); // CAN_TX_PWM((int16_t) cnt_vel_findhome); // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.)); // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));