Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

Diff: CAN/function_CAN.cpp

Revision:
254:725d7435dfa3
Parent:
253:0246366e0dcb
Child:
256:7c8cc8b56b88
--- a/CAN/function_CAN.cpp	Fri Feb 19 11:23:51 2021 +0000
+++ b/CAN/function_CAN.cpp	Mon Feb 22 13:25:19 2021 +0000
@@ -154,7 +154,8 @@
                     }
                 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
                     if (SENSING_MODE == 0) {
-                        CAN_TX_POSITION_FT((int16_t) (pos.sen/16.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
+//                        CAN_TX_POSITION_FT((int16_t) (pos.sen/16.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
+                        CAN_TX_POSITION_FT((int16_t) (pos.sen/16.0f), (int16_t) (vel.sen/256.0f), (int16_t) (pos.ref*0.001f));
                     } else if (SENSING_MODE == 1) {
                         CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/16.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
                     }