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Diff: CAN/function_CAN.cpp
- Revision:
- 254:725d7435dfa3
- Parent:
- 253:0246366e0dcb
- Child:
- 256:7c8cc8b56b88
diff -r 0246366e0dcb -r 725d7435dfa3 CAN/function_CAN.cpp --- a/CAN/function_CAN.cpp Fri Feb 19 11:23:51 2021 +0000 +++ b/CAN/function_CAN.cpp Mon Feb 22 13:25:19 2021 +0000 @@ -154,7 +154,8 @@ } } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator if (SENSING_MODE == 0) { - CAN_TX_POSITION_FT((int16_t) (pos.sen/16.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE))); +// CAN_TX_POSITION_FT((int16_t) (pos.sen/16.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE))); + CAN_TX_POSITION_FT((int16_t) (pos.sen/16.0f), (int16_t) (vel.sen/256.0f), (int16_t) (pos.ref*0.001f)); } else if (SENSING_MODE == 1) { CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/16.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); }