Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_PostLIGHT_210420

LIGHT2

Dependencies:   FastPWM mbed

Diff: main.cpp

Revision:
259:5da820cc9a1a
Parent:
258:c16774af92ed
Child:
260:bbb74caca589
--- a/main.cpp	Wed Jul 07 10:09:11 2021 +0000
+++ b/main.cpp	Fri Jul 09 02:07:56 2021 +0000
@@ -759,8 +759,8 @@
 
                 // torque control command ===============================================================================================================================================
                 float alpha_SpringDamper = 1.0f/(1.0f+TMR_FREQ_5k/(2.0f*PI*30.0f));
-                K_LPF = alpha_SpringDamper * K_LPF + (1.0f-alpha_SpringDamper) * K_SPRING;
-                D_LPF = alpha_SpringDamper * D_LPF + (1.0f-alpha_SpringDamper) * D_DAMPER;
+                K_LPF = (1.0f-alpha_SpringDamper) * K_LPF + alpha_SpringDamper * K_SPRING;
+                D_LPF = (1.0f-alpha_SpringDamper) * D_LPF + alpha_SpringDamper * D_DAMPER;
 
                 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
                     float torq_ref_act = torq.ref + K_SPRING * pos.err + D_DAMPER * vel.err; // unit : Nm