Diff: function_utilities/function_utilities.cpp

Revision:

252:179a8c8791dc

Parent:

218:066030f7951f

Child:

253:0246366e0dcb

diff -r 4b0e0b1ff297 -r 179a8c8791dc function_utilities/function_utilities.cpp
--- a/function_utilities/function_utilities.cpp	Fri Jan 08 12:39:16 2021 +0000
+++ b/function_utilities/function_utilities.cpp	Tue Feb 16 07:12:23 2021 +0000
@@ -309,6 +309,7 @@
 double I_ERR_INT = 0.0f;
 double I_REF_fil_old = 0.0f;
 double I_REF_fil_diff = 0.0f;
+double I_REF_fil_DZ = 0.0f;
 
 // system id
 int cnt_sysid = 0;
@@ -484,8 +485,8 @@
     writer.write(RID_P_GAIN_JOINT_TORQUE,(int) P_GAIN_JOINT_TORQUE);
     writer.write(RID_I_GAIN_JOINT_TORQUE,(int) I_GAIN_JOINT_TORQUE);
     writer.write(RID_D_GAIN_JOINT_TORQUE,(int) D_GAIN_JOINT_TORQUE);
-    writer.write(RID_VALVE_DEADZONE_PLUS,(int) (VALVE_DEADZONE_PLUS * 10.0f));
-    writer.write(RID_VALVE_DEADZONE_MINUS,(int) (VALVE_DEADZONE_MINUS * 10.0f));
+    writer.write(RID_VALVE_DEADZONE_PLUS,(int) (VALVE_DEADZONE_PLUS));
+    writer.write(RID_VALVE_DEADZONE_MINUS,(int) (VALVE_DEADZONE_MINUS));
     writer.write(RID_VELOCITY_COMP_GAIN,(int) VELOCITY_COMP_GAIN);
     writer.write(RID_COMPLIANCE_GAIN,(int) COMPLIANCE_GAIN);
     writer.write(RID_VALVE_CNETER,(int) VALVE_CENTER);
@@ -568,8 +569,8 @@
     P_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_P_GAIN_JOINT_TORQUE);
     I_GAIN_JOINT_TORQUE = spi_eeprom_read( RID_I_GAIN_JOINT_TORQUE);
     D_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_D_GAIN_JOINT_TORQUE);
-    VALVE_DEADZONE_PLUS = (float) (spi_eeprom_read( RID_VALVE_DEADZONE_PLUS)) * 0.1f;
-    VALVE_DEADZONE_MINUS = (float) (spi_eeprom_read(RID_VALVE_DEADZONE_MINUS)) * 0.1f;
+    VALVE_DEADZONE_PLUS = (float) (spi_eeprom_read(RID_VALVE_DEADZONE_PLUS));
+    VALVE_DEADZONE_MINUS = (float) (spi_eeprom_read(RID_VALVE_DEADZONE_MINUS));
     VELOCITY_COMP_GAIN = spi_eeprom_read(RID_VELOCITY_COMP_GAIN);
     COMPLIANCE_GAIN = spi_eeprom_read(RID_COMPLIANCE_GAIN);
     VALVE_CENTER = spi_eeprom_read(RID_VALVE_CNETER);
@@ -657,8 +658,8 @@
     P_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_TORQUE);
     I_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_TORQUE);
     D_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_TORQUE);
-    VALVE_DEADZONE_PLUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_PLUS)) * 0.1f;
-    VALVE_DEADZONE_MINUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_MINUS)) * 0.1f;
+    VALVE_DEADZONE_PLUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_PLUS));
+    VALVE_DEADZONE_MINUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_MINUS));
     VELOCITY_COMP_GAIN = flashReadInt(Rom_Sector, RID_VELOCITY_COMP_GAIN);
     COMPLIANCE_GAIN = flashReadInt(Rom_Sector, RID_COMPLIANCE_GAIN);
     VALVE_CENTER = flashReadInt(Rom_Sector, RID_VALVE_CNETER);