Diff: function_utilities/function_utilities.cpp

Revision:

55:b25725257569

Parent:

54:647072f5307a

Child:

56:6f50d9d3bfee

diff -r 647072f5307a -r b25725257569 function_utilities/function_utilities.cpp
--- a/function_utilities/function_utilities.cpp	Tue Feb 25 12:56:39 2020 +0000
+++ b/function_utilities/function_utilities.cpp	Wed Feb 26 12:51:52 2020 +0000
@@ -22,7 +22,6 @@
 uint8_t FLAG_VALVE_DEADZONE = 0;
 uint8_t REFERENCE_MODE = 0;
 int16_t CAN_FREQ = 500;
-int CAN_FREQUENCY = 500;
 int16_t DIR_JOINT_ENC = 0;
 int16_t DIR_VALVE = 0;
 int16_t DIR_VALVE_ENC = 0;
@@ -83,8 +82,8 @@
 int16_t STROKE;
 
 
-int16_t VALVE_LIMIT_PLUS;
-int16_t VALVE_LIMIT_MINUS;
+//int16_t VALVE_LIMIT_PLUS;
+//int16_t VALVE_LIMIT_MINUS;
 
 float ENC_PULSE_PER_POSITION;
 float TORQUE_SENSOR_PULSE_PER_TORQUE;
@@ -164,12 +163,10 @@
 
 int VALVE_MAX_POS;
 int VALVE_MIN_POS;
-float DDV_CENTER;
 int VALVE_POS_NUM;
 float VALVE_CENTER_OFFSET;
 float VALVE_DZ_MINUS_OFFSET;
 float VALVE_DZ_PLUS_OFFSET;
-int VALVE_CENTER_OFFSET_times10;
 
 int TMR3_COUNT_FINDHOME = 0;
 int TMR3_COUNT_FLOWRATE = 0;
@@ -411,8 +408,8 @@
     writer.write(RID_ENC_LIMIT_MINUS,(int) ENC_LIMIT_MINUS);
     writer.write(RID_ENC_LIMIT_PLUS,(int) ENC_LIMIT_PLUS);
     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_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_TORQUE_SENSOR_PULSE_PER_TORQUE,(int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f));
     writer.write(RID_PRES_SENSOR_A_PULSE_PER_BAR,(int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
@@ -442,7 +439,7 @@
     }
     writer.write(RID_VALVE_MAX_POS, (int) VALVE_MAX_POS);
     writer.write(RID_VALVE_MIN_POS, (int) VALVE_MIN_POS);
-    writer.write(RID_DDV_CENTER, (int) (DDV_CENTER * 10.0f));
+    //writer.write(RID_DDV_CENTER, (int) (DDV_CENTER * 10.0f));
     writer.write(RID_VALVE_POS_NUM, (int) VALVE_POS_NUM);
     
     writer.write(RID_K_SPRING, (int) K_SPRING);
@@ -455,6 +452,7 @@
 void ROM_CALL_DATA(void)
 {
     BNO = flashReadInt(Rom_Sector, RID_BNO);
+    BNO = 0;
     OPERATING_MODE = flashReadInt(Rom_Sector, RID_OPERATING_MODE);
     SENSING_MODE = flashReadInt(Rom_Sector, RID_SENSING_MODE);
     CURRENT_CONTROL_MODE = flashReadInt(Rom_Sector, RID_CURRENT_CONTROL_MODE);
@@ -491,8 +489,8 @@
     ENC_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_ENC_LIMIT_MINUS);
     ENC_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_ENC_LIMIT_PLUS);
     STROKE = flashReadInt(Rom_Sector, RID_STROKE);
-    VALVE_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_MINUS);
-    VALVE_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_PLUS);
+    //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) (flashReadInt(Rom_Sector, RID_ENC_PULSE_PER_POSITION)) * 0.1f;
 //    ENC_PULSE_PER_POSITION = (float) 1024.0f;
     TORQUE_SENSOR_PULSE_PER_TORQUE = (float) (flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_PULSE_PER_TORQUE)) * 0.01f;
@@ -526,7 +524,7 @@
     }
     VALVE_MAX_POS = flashReadInt(Rom_Sector, RID_VALVE_MAX_POS);
     VALVE_MIN_POS = flashReadInt(Rom_Sector, RID_VALVE_MIN_POS);
-    DDV_CENTER = (float) (flashReadInt(Rom_Sector, RID_DDV_CENTER)) * 0.1f;
+    //DDV_CENTER = (float) (flashReadInt(Rom_Sector, RID_DDV_CENTER)) * 0.1f;
     VALVE_POS_NUM = flashReadInt(Rom_Sector, RID_VALVE_POS_NUM);
     
     K_SPRING = flashReadInt(Rom_Sector, RID_K_SPRING);
@@ -606,3 +604,4 @@
 
 
 
+