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For LIGHT
Diff: function_utilities/function_utilities.cpp
- Revision:
- 67:cfc88fd0591e
- Parent:
- 66:d385a08132d7
diff -r d385a08132d7 -r cfc88fd0591e function_utilities/function_utilities.cpp --- a/function_utilities/function_utilities.cpp Thu May 21 02:08:49 2020 +0000 +++ b/function_utilities/function_utilities.cpp Wed Jun 03 08:46:45 2020 +0000 @@ -376,7 +376,7 @@ { FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector if (!writer.ready()) writer.open(); -// BNO = 10; +// BNO = 11; writer.write(RID_BNO,(int) BNO); // write at address, 쓸때도 4byte씩 씀 writer.write(RID_OPERATING_MODE,(int) OPERATING_MODE); writer.write(RID_SENSING_MODE, (int) SENSING_MODE); @@ -457,9 +457,10 @@ void ROM_CALL_DATA(void) { BNO = flashReadInt(Rom_Sector, RID_BNO); - //BNO = 11; +// BNO = 11; OPERATING_MODE = flashReadInt(Rom_Sector, RID_OPERATING_MODE); SENSING_MODE = flashReadInt(Rom_Sector, RID_SENSING_MODE); + SENSING_MODE = 1; CURRENT_CONTROL_MODE = flashReadInt(Rom_Sector, RID_CURRENT_CONTROL_MODE); CURRENT_CONTROL_MODE = 1; FLAG_VALVE_DEADZONE = flashReadInt(Rom_Sector, RID_FLAG_VALVE_DEADZONE); @@ -505,9 +506,9 @@ //TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 0.41928f; //for ankle // TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 10000.0f/2048.0f; //for knee PRES_SENSOR_A_PULSE_PER_BAR = (float) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_A_PULSE_PER_BAR)) * 0.01f; -// PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f; + PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f * 946.0f / 3.3f / 300.0f / 210.0f; PRES_SENSOR_B_PULSE_PER_BAR = (float) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_B_PULSE_PER_BAR)) * 0.01f; -// PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f; + PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f * 946.0f / 3.3f / 300.0f / 210.0f; FRICTION = (float) (flashReadInt(Rom_Sector, RID_FRICTION)) * 0.1f; HOMEPOS_OFFSET = flashReadInt(Rom_Sector, RID_HOMEPOS_OFFSET); HOMEPOS_VALVE_OPENING = flashReadInt(Rom_Sector, RID_HOMEPOS_VALVE_OPENING);