Sungwoo Kim
/
HydraulicControlBoard_Learning
for learning
Diff: main.cpp
- Revision:
- 253:0246366e0dcb
- Parent:
- 252:179a8c8791dc
- Child:
- 254:725d7435dfa3
diff -r 179a8c8791dc -r 0246366e0dcb main.cpp --- a/main.cpp Tue Feb 16 07:12:23 2021 +0000 +++ b/main.cpp Fri Feb 19 11:23:51 2021 +0000 @@ -1333,7 +1333,7 @@ float pres_A_new = (((float) ADC1->DR) - 2047.5f); double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; - torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; + torq.sen = pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); @@ -1463,7 +1463,7 @@ CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; CUR_TORQUE_sum = 0; - TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); + TORQUE_VREF -= 0.000003f * (0.0f - CUR_TORQUE_mean); if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;