Sungwoo Kim
/
HydraulicControlBoard_Learning
for learning
Diff: function_utilities/function_utilities.cpp
- Revision:
- 180:02be1711ee0b
- Parent:
- 179:d5377766d7ea
- Child:
- 192:637092202815
diff -r d5377766d7ea -r 02be1711ee0b function_utilities/function_utilities.cpp --- a/function_utilities/function_utilities.cpp Mon Dec 14 05:27:22 2020 +0000 +++ b/function_utilities/function_utilities.cpp Tue Dec 15 00:19:25 2020 +0000 @@ -499,7 +499,8 @@ writer.write(RID_STROKE,(int) STROKE); //writer.write(RID_VALVE_LIMIT_MINUS,(int) VALVE_LIMIT_MINUS); //writer.write(RID_VALVE_LIMIT_PLUS,(int) VALVE_LIMIT_PLUS); - writer.write(RID_ENC_PULSE_PER_POSITION,(int) (ENC_PULSE_PER_POSITION*10.0f)); + //writer.write(RID_ENC_PULSE_PER_POSITION,(int) (ENC_PULSE_PER_POSITION*10.0f)); + writer.write(RID_ENC_PULSE_PER_POSITION,(int) (ENC_PULSE_PER_POSITION)); writer.write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE,(int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 10000.0f)); writer.write(RID_PRES_SENSOR_A_PULSE_PER_BAR,(int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); writer.write(RID_PRES_SENSOR_B_PULSE_PER_BAR,(int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); @@ -541,7 +542,7 @@ void ROM_CALL_DATA(void) { BNO = spi_eeprom_read(RID_BNO); - BNO = 0; + BNO = 1; OPERATING_MODE = spi_eeprom_read(RID_OPERATING_MODE); SENSING_MODE = spi_eeprom_read(RID_SENSING_MODE); // SENSING_MODE = 1; @@ -584,8 +585,8 @@ STROKE = spi_eeprom_read(RID_STROKE); //VALVE_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_MINUS); //VALVE_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_PLUS); - ENC_PULSE_PER_POSITION = (float) (spi_eeprom_read(RID_ENC_PULSE_PER_POSITION)) * 0.1f; -// ENC_PULSE_PER_POSITION = (float) 1024.0f; + //ENC_PULSE_PER_POSITION = (float) (spi_eeprom_read(RID_ENC_PULSE_PER_POSITION)) * 0.1f; + ENC_PULSE_PER_POSITION = (float) (spi_eeprom_read(RID_ENC_PULSE_PER_POSITION)); TORQUE_SENSOR_PULSE_PER_TORQUE = (float) (spi_eeprom_read(RID_TORQUE_SENSOR_PULSE_PER_TORQUE)) * 0.0001f; //TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 0.41928f; //for ankle // TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 10000.0f/2048.0f; //for knee