Sungwoo Kim
/
HydraulicControlBoard_LIGHT
For LIGHT
Diff: main.cpp
- Revision:
- 27:a2254a485f23
- Parent:
- 26:8317d883d4f2
- Child:
- 28:2a62d73e3dd0
--- a/main.cpp Fri Sep 27 06:57:32 2019 +0000 +++ b/main.cpp Tue Oct 01 05:18:16 2019 +0000 @@ -139,6 +139,7 @@ MODE_DDV_POS_VS_PWM_ID = 30, //30 MODE_DDV_DEADZONE_AND_CENTER, //31 MODE_DDV_POS_VS_FLOWRATE, //32 + MODE_ROM_RESET, //33 }; int main() @@ -321,6 +322,7 @@ } V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; + //V_out = VALVE_PWM_RAW_FB; } #define LT_MAX_IDX 57 @@ -1219,7 +1221,7 @@ VALVE_POS_AVG_OLD = VALVE_MIN_POS; } } - ROM_RESET_DATA(); + //ROM_RESET_DATA(); ID_index = 0; CONTROL_MODE = MODE_NO_ACT; } @@ -1499,7 +1501,8 @@ VALVE_DEADZONE_MINUS = FIRST_DZ; //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ); VALVE_DEADZONE_PLUS = SECOND_DZ; - ROM_RESET_DATA(); + + //ROM_RESET_DATA(); //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ); //spi_eeprom_write(RID_DDV_CENTER, DDV_CENTER); @@ -1583,7 +1586,7 @@ //spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index)); VALVE_POS_NUM = ID_index; - ROM_RESET_DATA(); + //ROM_RESET_DATA(); ID_index = 0; first_check = 0; VALVE_FR_timer = 0; @@ -1593,6 +1596,13 @@ } break; } + case MODE_ROM_RESET: { + CAN_TX_TORQUE((int16_t) (7)); + ROM_RESET_DATA(); + + CONTROL_MODE = MODE_NO_ACT; + break; + } default: break; @@ -1627,6 +1637,12 @@ /******************************************************* *** PWM ********************************************************/ + if (V_out >= 12000.0){ + V_out = 12000.0; + } + else if(V_out<=-12000.0){ + V_out = -12000.0; + } PWM_out= V_out/SUPPLY_VOLTAGE; // Full duty : 12000.0mV // Saturation of output voltage to 5.0V @@ -1702,7 +1718,7 @@ if (flag_data_request[4] == HIGH) { //valve position - CAN_TX_VALVE_POSITION((int16_t) (value)); + CAN_TX_VALVE_POSITION((int16_t) (value), (int16_t) valve_pos.ref, (int16_t) V_out); //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF)); //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0_1, (int16_t) ((0xFEF1>>16) & 0xFFFF));