Sungwoo Kim
/
HydraulicControlBoard_Learning
for learning
Diff: function_utilities/function_utilities.cpp
- Revision:
- 252:179a8c8791dc
- Parent:
- 218:066030f7951f
- Child:
- 253:0246366e0dcb
--- a/function_utilities/function_utilities.cpp Fri Jan 08 12:39:16 2021 +0000 +++ b/function_utilities/function_utilities.cpp Tue Feb 16 07:12:23 2021 +0000 @@ -309,6 +309,7 @@ double I_ERR_INT = 0.0f; double I_REF_fil_old = 0.0f; double I_REF_fil_diff = 0.0f; +double I_REF_fil_DZ = 0.0f; // system id int cnt_sysid = 0; @@ -484,8 +485,8 @@ writer.write(RID_P_GAIN_JOINT_TORQUE,(int) P_GAIN_JOINT_TORQUE); writer.write(RID_I_GAIN_JOINT_TORQUE,(int) I_GAIN_JOINT_TORQUE); writer.write(RID_D_GAIN_JOINT_TORQUE,(int) D_GAIN_JOINT_TORQUE); - writer.write(RID_VALVE_DEADZONE_PLUS,(int) (VALVE_DEADZONE_PLUS * 10.0f)); - writer.write(RID_VALVE_DEADZONE_MINUS,(int) (VALVE_DEADZONE_MINUS * 10.0f)); + writer.write(RID_VALVE_DEADZONE_PLUS,(int) (VALVE_DEADZONE_PLUS)); + writer.write(RID_VALVE_DEADZONE_MINUS,(int) (VALVE_DEADZONE_MINUS)); writer.write(RID_VELOCITY_COMP_GAIN,(int) VELOCITY_COMP_GAIN); writer.write(RID_COMPLIANCE_GAIN,(int) COMPLIANCE_GAIN); writer.write(RID_VALVE_CNETER,(int) VALVE_CENTER); @@ -568,8 +569,8 @@ P_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_P_GAIN_JOINT_TORQUE); I_GAIN_JOINT_TORQUE = spi_eeprom_read( RID_I_GAIN_JOINT_TORQUE); D_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_D_GAIN_JOINT_TORQUE); - VALVE_DEADZONE_PLUS = (float) (spi_eeprom_read( RID_VALVE_DEADZONE_PLUS)) * 0.1f; - VALVE_DEADZONE_MINUS = (float) (spi_eeprom_read(RID_VALVE_DEADZONE_MINUS)) * 0.1f; + VALVE_DEADZONE_PLUS = (float) (spi_eeprom_read(RID_VALVE_DEADZONE_PLUS)); + VALVE_DEADZONE_MINUS = (float) (spi_eeprom_read(RID_VALVE_DEADZONE_MINUS)); VELOCITY_COMP_GAIN = spi_eeprom_read(RID_VELOCITY_COMP_GAIN); COMPLIANCE_GAIN = spi_eeprom_read(RID_COMPLIANCE_GAIN); VALVE_CENTER = spi_eeprom_read(RID_VALVE_CNETER); @@ -657,8 +658,8 @@ P_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_TORQUE); I_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_TORQUE); D_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_TORQUE); - VALVE_DEADZONE_PLUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_PLUS)) * 0.1f; - VALVE_DEADZONE_MINUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_MINUS)) * 0.1f; + VALVE_DEADZONE_PLUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_PLUS)); + VALVE_DEADZONE_MINUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_MINUS)); VELOCITY_COMP_GAIN = flashReadInt(Rom_Sector, RID_VELOCITY_COMP_GAIN); COMPLIANCE_GAIN = flashReadInt(Rom_Sector, RID_COMPLIANCE_GAIN); VALVE_CENTER = flashReadInt(Rom_Sector, RID_VALVE_CNETER);