Diff: main.cpp

Revision:

135:79885a39c161

Parent:

134:32e808423e70

Child:

136:7e66fc71af40

--- a/main.cpp	Tue Oct 06 05:25:47 2020 +0000
+++ b/main.cpp	Tue Oct 06 11:17:12 2020 +0000
@@ -1583,7 +1583,8 @@
                     }
                 }
                 float tau = 0.01f;
-                float K_valve = 0.00004f;
+//                float K_valve = 0.00004f;
+                float K_valve = 0.4f;
                 
                 float x_v = 0.0f;   //x_v : -1~1
                 if(value>=VALVE_CENTER) {
@@ -1615,9 +1616,7 @@
                 
                 V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*torq.err)/g4;
                 
-                
-                /*     
-                
+                /*       
                 double torq_ref = 0.0f;
                 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
                 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
@@ -1834,13 +1833,17 @@
         }
         else {              //////////////////////////sw valve
             // Output Voltage Linearization
-            double CUR_PWM_nonlin = V_out; // Unit : mV
-            double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);  // -8000~8000
+//            double CUR_PWM_nonlin = V_out; // Unit : mV
+//            double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);  // -8000~8000
 
             // Dead Zone Cancellation (Electrical dead-zone)
-            if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
-            else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
-            else V_out = (float) (CUR_PWM_lin);
+//            if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
+//            else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
+//            else V_out = (float) (CUR_PWM_lin);
+
+            if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
+            else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
+            else V_out = 0.0f;
         }
         
 //        if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);