Diff: function_utilities/function_utilities.cpp

Revision:

18:b8adf1582ea3

Parent:

17:1865016ca2e7

Child:

19:23b7c1ad8683

diff -r 1865016ca2e7 -r b8adf1582ea3 function_utilities/function_utilities.cpp
--- a/function_utilities/function_utilities.cpp	Tue Sep 03 11:59:55 2019 +0000
+++ b/function_utilities/function_utilities.cpp	Wed Sep 04 11:02:57 2019 +0000
@@ -25,8 +25,8 @@
 int16_t DIR_VALVE = 0;
 int16_t DIR_VALVE_ENC = 0;
 
-double SUPPLY_VOLTAGE = 12.0;
-double VALVE_VOLTAGE_LIMIT = 12.0;
+double SUPPLY_VOLTAGE = 12000.0;
+double VALVE_VOLTAGE_LIMIT = 12000.0;  //mv
 
 double P_GAIN_VALVE_POSITION = 0.0;
 double I_GAIN_VALVE_POSITION= 0.0;
@@ -86,7 +86,6 @@
 
 double DAC_REF;
 double DAC_RESOL;
-double PWM_RESOL;
 
 int REF_POSITION;
 int REF_VELOCITY;
@@ -141,7 +140,6 @@
 double PRES_B_VREF_TEST;
 double TORQUE_VREF;
 
-double VALVE_PWM_RAW;
 double VALVE_PWM_RAW_FB;
 double VALVE_PWM_RAW_FF;
 int VALVE_PWM_VALVE_DZ;
@@ -390,7 +388,20 @@
     writer.write(RID_VALVE_GAIN_MINUS_2,(int) (VALVE_GAIN_LPM_PER_V[3] * 100.0)); 
     writer.write(RID_VALVE_GAIN_MINUS_3,(int) (VALVE_GAIN_LPM_PER_V[5] * 100.0)); 
     writer.write(RID_VALVE_GAIN_MINUS_4,(int) (VALVE_GAIN_LPM_PER_V[7] * 100.0)); 
-    writer.write(RID_VALVE_GAIN_MINUS_5,(int) (VALVE_GAIN_LPM_PER_V[9] * 100.0)); 
+    writer.write(RID_VALVE_GAIN_MINUS_5,(int) (VALVE_GAIN_LPM_PER_V[9] * 100.0));
+    for(int i=0; i<25; i++)
+    {
+        writer.write(RID_VALVE_POS_VS_PWM_0 + i, (int) VALVE_POS_VS_PWM[i]);
+    }
+    for(int i=0; i<100; i++)
+    {
+        writer.write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int) (JOINT_VEL[ID_index] & 0xFFFF));
+        writer.write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
+    }
+    writer.write(RID_VALVE_MAX_POS, (int) VALVE_MAX_POS);
+    writer.write(RID_VALVE_MIN_POS, (int) VALVE_MIN_POS);
+    writer.write(RID_DDV_CENTER, (int) DDV_CENTER);
+    writer.write(RID_VALVE_POS_NUM, (int) VALVE_POS_NUM);
 
     writer.close();    
     
@@ -405,7 +416,9 @@
     DIR_VALVE = flashReadInt(Rom_Sector, RID_VALVE_DIR);
     DIR_VALVE_ENC = flashReadInt(Rom_Sector, RID_VALVE_ENC_DIR);
     SUPPLY_VOLTAGE = (double) (flashReadInt(Rom_Sector, RID_VOLATGE_SUPPLY)) *0.1;
+    SUPPLY_VOLTAGE = 12000.0;
     VALVE_VOLTAGE_LIMIT = (double) (flashReadInt(Rom_Sector, RID_VOLTAGE_VALVE)) * 0.1;
+    VALVE_VOLTAGE_LIMIT = 12000.0;
     P_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_P_GAIN_VALVE_POSITION);
     I_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_I_GAIN_VALVE_POSITION);
     D_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_D_GAIN_VALVE_POSITION);
@@ -466,7 +479,7 @@
     }
     VALVE_MAX_POS = flashReadInt(Rom_Sector, RID_VALVE_MAX_POS);
     VALVE_MIN_POS = flashReadInt(Rom_Sector, RID_VALVE_MIN_POS);
-    DDV_CENTER = flashReadInt(Rom_Sector, RID_DDV_CNETER);
+    DDV_CENTER = flashReadInt(Rom_Sector, RID_DDV_CENTER);
     VALVE_POS_NUM = flashReadInt(Rom_Sector, RID_VALVE_POS_NUM);
 
 }
@@ -536,3 +549,4 @@
     ENC_pos_old = ENC_pos_cur = value_e;
 
 }
+