Diff: CAN/function_CAN.h

Revision:

230:2c3e5ecbe7e1

Parent:

227:699c3e572283

Child:

237:c2cfe349f5c1

Child:

258:c16774af92ed

--- a/CAN/function_CAN.h	Tue Apr 20 00:42:45 2021 +0000
+++ b/CAN/function_CAN.h	Wed Apr 21 04:20:39 2021 +0000
@@ -45,7 +45,10 @@
 #define             CRX_SET_VOLTAGE_SUPPLY          112
 #define             CRX_ASK_VOLTAGE_VALVE           13
 #define             CRX_SET_VOLTAGE_VALVE           113
-#define             CRX_SET_HOMEPOS                 114      
+#define             CRX_SET_HOMEPOS                 114  
+#define             CRX_ASK_VARIABLE_SUPPLY         15      
+#define             CRX_SET_VARIABLE_SUPPLY         115      
+    
 #define             CRX_ASK_PID_GAIN                20
 #define             CRX_SET_PID_GAIN                120
 #define             CRX_ASK_VALVE_DEADZONE          21
@@ -62,8 +65,8 @@
 #define             CRX_SET_CHAMBER_VOLUME          127
 #define             CRX_ASK_PISTON_AREA             28
 #define             CRX_SET_PISTON_AREA             128
-#define             CRX_ASK_PRES                    29
-#define             CRX_SET_PRES                    129
+#define             CRX_ASK_SUP_PRES                29
+#define             CRX_SET_SUP_PRES                129
 #define             CRX_ASK_ENC_LIMIT               30
 #define             CRX_SET_ENC_LIMIT               130
 #define             CRX_ASK_STROKE                  31
@@ -119,6 +122,7 @@
 #define             CTX_SEND_VALVE_ENC_DIR                      11
 #define             CTX_SEND_VOLTAGE_SUPPLY                     12
 #define             CTX_SEND_VOLTAGE_VALVE                      13
+#define             CTX_SEND_VARIABLE_SUPPLY                    15
 #define             CTX_SEND_PID_GAIN                           20
 #define             CTX_SEND_VALVE_DEADZONE                     21
 #define             CTX_SEND_VELOCITY_COMP_GAIN                 22
@@ -127,7 +131,7 @@
 #define             CTX_SEND_BULK_MODULUS                       26
 #define             CTX_SEND_CHAMBER_VOLUME                     27
 #define             CTX_SEND_PISTON_AREA                        28
-#define             CTX_SEND_PRES                               29
+#define             CTX_SEND_SUP_PRES                           29
 #define             CTX_SEND_ENC_LIMIT                          30
 #define             CTX_SEND_STROKE                             31
 #define             CTX_SEND_VALVE_LIMIT                        32
@@ -168,6 +172,8 @@
 void CAN_TX_VALVE_ENC_DIR(void);
 void CAN_TX_VOLTAGE_SUPPLY(void);
 void CAN_TX_VOLTAGE_VALVE(void);
+void CAN_TX_VARIABLE_SUPPLY_ONOFF(void);
+
 void CAN_TX_PID_GAIN(int t_type);
 void CAN_TX_VALVE_DEADZONE(void);
 void CAN_TX_VELOCITY_COMP_GAIN(void);
@@ -176,7 +182,7 @@
 void CAN_TX_BULK_MODULUS(void);
 void CAN_TX_CHAMBER_VOLUME(void);
 void CAN_TX_PISTON_AREA(void);
-void CAN_TX_PRES_A_AND_B(void);
+void CAN_TX_SUP_PRES(void);
 void CAN_TX_ENC_LIMIT(void);
 void CAN_TX_STROKE(void);
 void CAN_TX_VALVE_LIMIT(void);
@@ -199,10 +205,8 @@
 {
     public:
         float sen;
+        float sen_diff;
         float ref;
-        float ref_old;
-        float ref_diff;
-        float ref_home_pos;
         float err;
         float err_int;
         float err_old;
@@ -211,20 +215,23 @@
     public:
         State(){
             sen = 0.0f;
+            sen_diff = 0.0f;
             ref = 0.0f;
-            ref_old = 0.0f;
-            ref_diff = 0.0f;
-            ref_home_pos = 0.0f;
             err = 0.0f;
             err_int = 0.0f;
             err_old = 0.0f;
             err_diff = 0.0f;
         }
+        
+        void UpdateSen(float sen_new, float Freq_update, float f_cut = 1000.0f);
+        void UpdateRef(float ref_new);
+        void Reset();
 };
 
 extern State pos;
 extern State vel;
 extern State Vout;
+extern State force;
 extern State torq;
 extern State torq_dot;
 extern State pres_A;