Diff: main.cpp

Revision:

237:aa3863117889

Parent:

236:1276112e0147

Child:

238:e4bda4d06a7d

--- a/main.cpp	Sat Jan 02 06:58:18 2021 +0000
+++ b/main.cpp	Sat Jan 02 07:20:26 2021 +0000
@@ -2803,11 +2803,9 @@
         TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
 
 
-        if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
-
-
 
 /*
+        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) {
@@ -2865,21 +2863,23 @@
                 //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) {
-//            CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
-//        }
-            //if (flag_delay_test == 1){
-            //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
-            //}
+        if (flag_data_request[1] == HIGH) {
+            CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
+        }
+            if (flag_delay_test == 1){
+            CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
+            }
 
             TMR2_COUNT_CAN_TX = 0;
         }
         TMR2_COUNT_CAN_TX++;
-
+        
+*/
+      
     }
     TIM3->SR = 0x0;  // reset the status register