Diff: function_utilities/function_utilities.cpp

Revision:

245:e9c5ec04e378

Parent:

244:30896263bd8b

--- a/function_utilities/function_utilities.cpp	Mon Jun 13 08:48:55 2022 +0000
+++ b/function_utilities/function_utilities.cpp	Fri Jun 17 06:06:53 2022 +0000
@@ -21,7 +21,7 @@
 uint8_t FLAG_VALVE_DEADZONE = 0;
 uint8_t REFERENCE_MODE = 1;
 int16_t CAN_FREQ = 500;
-int16_t DIR_JOINT_ENC = 0;
+int16_t DIR_JOINT_ENC = 1;
 int16_t DIR_VALVE = 0;
 int16_t DIR_VALVE_ENC = 0;
 
@@ -46,21 +46,10 @@
 
 int16_t flag_delay_test = 0;
 
-//float P_GAIN_VALVE_POSITION_OPP = 0.0f;
-//float I_GAIN_VALVE_POSITION_OPP= 0.0f;
-//float D_GAIN_VALVE_POSITION_OPP= 0.0f;
-//float P_GAIN_JOINT_POSITION_OPP = 0.0f;
-//float I_GAIN_JOINT_POSITION_OPP = 0.0f;
-//float D_GAIN_JOINT_POSITION_OPP = 0.0f;
-//float P_GAIN_JOINT_TORQUE_OPP = 0.0f;
-//float I_GAIN_JOINT_TORQUE_OPP = 0.0;
-//float D_GAIN_JOINT_TORQUE_OPP = 0.0;
-
 int16_t VALVE_DEADZONE_PLUS;
 int16_t VALVE_DEADZONE_MINUS;
 
 int16_t VELOCITY_COMP_GAIN;
-//int16_t COMPLIANCE_GAIN;
 
 int16_t VALVE_CENTER;
 
@@ -94,9 +83,6 @@
 float V_adapt = 0.0000053f;           // (1256.6f + 236.4f * 39.75f) * 0.000000001f / 2
 float x_4_des_old = 0.0f;
 
-//int16_t VALVE_LIMIT_PLUS;
-//int16_t VALVE_LIMIT_MINUS;
-
 float ENC_PULSE_PER_POSITION = 1.0f;
 float TORQUE_SENSOR_PULSE_PER_TORQUE = 1.0f;
 float PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f;
@@ -348,10 +334,7 @@
 float K_LPF = 0.0f;
 float D_LPF = 0.0f;
 
-float torq_sen_past = 0.0f;
-float torq_ref_past = 0.0f;
-float output_normalized = 0.0f;
-
+float V_EXI = 0.0f;
 
 /*******************************************************************************
  * General math functions