Sungwoo Kim
/
HydraulicControlBoard_PostLIGHT_210420
LIGHT2
Diff: CAN/function_CAN.cpp
- Revision:
- 192:637092202815
- Parent:
- 180:02be1711ee0b
- Child:
- 209:ebc69d6ee6f1
--- a/CAN/function_CAN.cpp Fri Dec 18 00:58:54 2020 +0000 +++ b/CAN/function_CAN.cpp Fri Dec 18 05:44:16 2020 +0000 @@ -754,6 +754,11 @@ break; } + case CRX_SET_CHANGE_EVERY_REFERNCE: { + flag_every_reference = 1; + break; + } + default: break; } @@ -808,10 +813,18 @@ f_past[num_array_f_past-1] = torq.sen; //N f_future[0] = torq.sen; //N - for(int i=1; i<num_array_f_future-1; i++) { - f_future[i] = f_future[i+1]; + + if(flag_every_reference == 1) { + for(int i=1; i<num_array_f_future-1; i++) { + f_future[i] = 500.0f; + } + f_future[num_array_f_future-1] = 500.0f; //N + } else { + for(int i=1; i<num_array_f_future-1; i++) { + f_future[i] = f_future[i+1]; + } + f_future[num_array_f_future-1] = torq.ref; //N } - f_future[num_array_f_future-1] = torq.ref; //N } else if(address==CID_RX_REF_VALVE_POS) {