Diff: main.cpp

Revision:

233:0a37cdd59651

Parent:

232:0287991a8615

Child:

234:1cdc45c27ba7

--- a/main.cpp	Wed Dec 30 11:14:47 2020 +0000
+++ b/main.cpp	Thu Dec 31 15:08:02 2020 +0000
@@ -1,4 +1,4 @@
-//201230_4
+//201231_1  CAN request
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -1037,7 +1037,7 @@
 //            input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f;
             input_NN[ind] = torq.sen / 10000.0f + 0.5f;
             ind = ind + 1;
-            for(int i=2; i<numfuture_f; i++) {
+            for(int i=0; i<numfuture_f; i++) {
 //                input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f;
 //                input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f;
 //                input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f;
@@ -1396,7 +1396,6 @@
 float DT_TMR3 = (float)DT_5k;
 int cnt_trans = 0;
 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
-int can_rest =0;
 
 extern "C" void TIM3_IRQHandler(void)
 {
@@ -2350,12 +2349,12 @@
             case MODE_VALVE_POSITION_CONTROL: {
                 if (OPERATING_MODE == 5) { //SW Valve
                     ////For Test LIMC//////////////////////////////////////////
-//                    VALVE_POS_CONTROL(valve_pos.ref);
-                    for(int i=0; i<9; i++){
-                        valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1];
-                    }
-                    valve_ref_pos_buffer[9] = valve_pos.ref;
-                    VALVE_POS_CONTROL(valve_ref_pos_buffer[0]);
+                    VALVE_POS_CONTROL(valve_pos.ref);
+//                    for(int i=0; i<9; i++){
+//                        valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1];
+//                    }
+//                    valve_ref_pos_buffer[9] = valve_pos.ref;
+//                    VALVE_POS_CONTROL(valve_ref_pos_buffer[0]);
                     ////////////////////////////////////////////////////////////
                     
                     V_out = Vout.ref;
@@ -2805,6 +2804,10 @@
 
         if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
 
+
+
+/*
+
             // Position, Velocity, and Torque (ID:1200)
             if (flag_data_request[0] == HIGH) {
                 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
@@ -2821,6 +2824,7 @@
                     }
                 }
             }
+        
             if (flag_data_request[1] == HIGH) {
                 CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300
             }
@@ -2845,7 +2849,7 @@
             }
 
             //If it doesn't rest, below can can not work.
-            for (can_rest = 0; can_rest < 10000; can_rest++) {
+            for (int can_rest = 0; can_rest < 10000; can_rest++) {
                 ;
             }
 
@@ -2860,6 +2864,8 @@
                 //CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) (logging2*1000.0f), (int16_t) (logging4*1000.0f)); //1600
                 CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
             }
+*/       
+
 
             // Others : Reference position, Reference FT, PWM, Current  (ID:1300)
 //        if (flag_data_request[1] == HIGH) {