![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
LIGHT2
Diff: setting.h
- Revision:
- 14:8e7590227d22
- Parent:
- 13:747daba9cf59
- Child:
- 16:903b5a4433b4
--- a/setting.h Tue Aug 27 06:50:54 2019 +0000 +++ b/setting.h Thu Aug 29 07:38:00 2019 +0000 @@ -181,6 +181,7 @@ extern int16_t REF_PRES_DIFF; extern int16_t REF_PWM; extern int16_t REF_VALVE_POSITION; +extern int16_t REF_CURRENT; extern int REF_MOVE_TIME_5k; extern int INIT_REF_PWM; @@ -189,6 +190,7 @@ extern int INIT_REF_VEL; extern int INIT_REF_TORQUE; extern int INIT_REF_PRES_DIFF; +extern int INIT_REF_CURRENT; extern int CUR_POSITION; extern int CUR_VELOCITY; @@ -239,21 +241,22 @@ extern int DDV_CENTER; extern int VALVE_POS_NUM; -extern int TMR2_COUNT_FINDHOME; -extern int TMR2_COUNT_FLOWRATE; -extern int TMR2_COUNT_DEADZONE; -extern int TMR2_COUNT_PRES_NULL; -extern int TMR2_COUNT_TORQUE_NULL; -extern int TMR2_COUNT_PRES_CALIB; -extern int TMR2_COUNT_REFERENCE; -extern int TMR2_COUNT_JOINT; -extern int TMR2_COUNT_ROTARY_FRIC_TUNE; +extern int TMR3_COUNT_FINDHOME; +extern int TMR3_COUNT_FLOWRATE; +extern int TMR3_COUNT_DEADZONE; +extern int TMR3_COUNT_PRES_NULL; +extern int TMR3_COUNT_TORQUE_NULL; +extern int TMR3_COUNT_PRES_CALIB; +extern int TMR3_COUNT_REFERENCE; +extern int TMR3_COUNT_JOINT; +extern int TMR3_COUNT_ROTARY_FRIC_TUNE; extern bool FLAG_REFERENCE_VALVE_PWM; extern bool FLAG_REFERENCE_VALVE_POSITION; extern bool FLAG_REFERENCE_JOINT_POSITION; extern bool FLAG_REFERENCE_JOINT_TORQUE; extern bool FLAG_REFERENCE_PRES_DIFF; +extern bool FLAG_REFERENCE_CURRENT; extern double TUNING_TIME; @@ -275,11 +278,6 @@ extern double PRES_B_NULL; extern double TORQUE_NULL; -extern double Ref_PWM; -extern double Ref_Valve_Pos; -extern double Ref_Joint_Pos; -extern double Ref_Joint_Vel; -extern double Ref_Joint_Torq; extern double Ref_Valve_Pos_Old; extern int VALVE_ID_timer; @@ -313,7 +311,7 @@ extern char min_check; extern double valve_pos_err, valve_pos_err_old, valve_pos_err_diff, valve_pos_err_sum; -extern double joint_pos_err, joint_pos_err_old, joint_pos_err_diff, joint_pos_err_sum; +extern double joint_pos_err, joint_pos_err_old, joint_pos_err_diff, joint_pos_err_diff_fil, joint_pos_err_sum; extern double joint_torq_err, joint_torq_err_old, joint_torq_err_diff, joint_torq_err_sum; extern double VALVE_PWM_RAW_POS, VALVE_PWM_RAW_TORQ; @@ -357,4 +355,11 @@ extern double freq_fric_tune; -extern bool FLAG_VALVE_OUTPUT_CALIB; \ No newline at end of file +extern bool FLAG_VALVE_OUTPUT_CALIB; + +extern uint32_t TMR3_COUNT_CAN_TX; + +extern double I_REF; +extern int TMR3_COUNT_IREF; +extern double CUR_CURRENT; +extern double u_CUR[3]; \ No newline at end of file