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Original Version of STM Board
Diff: CAN/function_CAN.cpp
- Revision:
- 42:1cf66990ccab
- Parent:
- 41:abbd4e2af68b
- Child:
- 43:b084e5f5d0d5
diff -r abbd4e2af68b -r 1cf66990ccab CAN/function_CAN.cpp --- a/CAN/function_CAN.cpp Mon Dec 23 04:05:31 2019 +0000 +++ b/CAN/function_CAN.cpp Thu Dec 26 00:19:14 2019 +0000 @@ -722,7 +722,7 @@ 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 * 400.0f; + vel.ref = (double)temp_vel * 100.0f; torq.ref = (double)temp_torq; } else if(address==CID_RX_REF_TORQUE) { int16_t temp_torq = (int16_t) (msg.data[0] | msg.data[1] << 8);