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distribution-201229
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);