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Original Version of STM Board
Diff: CAN/function_CAN.cpp
- Revision:
- 43:b084e5f5d0d5
- Parent:
- 42:1cf66990ccab
- Child:
- 45:35fa6884d0c6
--- a/CAN/function_CAN.cpp Thu Dec 26 00:19:14 2019 +0000 +++ b/CAN/function_CAN.cpp Tue Jan 07 08:39:22 2020 +0000 @@ -716,14 +716,14 @@ ReadCMD(CMD); } else if(address==CID_RX_REF_POSITION) { //int32_t temp_pos = (int32_t) (msg.data[0] | msg.data[1] << 8 | msg.data[2] << 16 | msg.data[3] << 24); - int32_t temp_pos = (int32_t) (msg.data[0] | msg.data[1] << 8); + int16_t temp_pos = (int16_t) (msg.data[0] | msg.data[1] << 8); //int32_t temp_vel = (int32_t) (msg.data[4] | msg.data[5] << 8 | msg.data[6] << 16 | msg.data[7] << 24); - int32_t temp_vel = (int32_t) (msg.data[2] | msg.data[3] << 8); + int16_t temp_vel = (int16_t) (msg.data[2] | msg.data[3] << 8); int16_t temp_torq = (int16_t) (msg.data[4] | msg.data[5] << 8); pos.ref = (double)temp_pos * 4.0f; vel.ref = (double)temp_vel * 100.0f; - torq.ref = (double)temp_torq; + torq.ref = (double)temp_torq * 0.1f; } else if(address==CID_RX_REF_TORQUE) { int16_t temp_torq = (int16_t) (msg.data[0] | msg.data[1] << 8); torq.ref = (double)temp_torq;