Diff: function_utilities/function_utilities.cpp

Revision:

239:8ac5c6162bc1

Parent:

238:4e660aa77eb7

Child:

240:c93d3eabff75

Child:

241:fb5b57e3f157

--- a/function_utilities/function_utilities.cpp	Tue Jul 13 01:40:56 2021 +0000
+++ b/function_utilities/function_utilities.cpp	Fri Jul 30 06:04:10 2021 +0000
@@ -41,8 +41,8 @@
 float I_GAIN_JOINT_TORQUE_FF = 0.0f;
 float D_GAIN_JOINT_TORQUE_FF = 0.0f;
 
-int16_t K_SPRING = 0.0;
-int16_t D_DAMPER = 0.0;
+int16_t K_SPRING = 0;
+int16_t D_DAMPER = 0;
 
 int16_t flag_delay_test = 0;
 
@@ -242,6 +242,7 @@
 float joint_pos_err = 0.0f, joint_pos_err_old = 0.0f, joint_pos_err_diff = 0.0f, joint_pos_err_diff_fil = 0.0f, joint_pos_err_sum = 0.0f;
 float joint_torq_err = 0.0f, joint_torq_err_old = 0.0f, joint_torq_err_diff = 0.0f, joint_torq_err_sum = 0.0f;
 float VALVE_PWM_RAW_POS = 0.0f, VALVE_PWM_RAW_TORQ = 0.0f;
+float force_ref_filter = 0.0f;
 
 float CUR_FLOWRATE = 0.0f;
 float VALVE_FF_VOLTAGE = 0.0f;