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Original Version of STM Board
Diff: CAN/function_CAN.cpp
- Revision:
- 87:471334725012
- Parent:
- 86:b8ed7abddeb2
- Child:
- 91:ec77a57f947f
diff -r b8ed7abddeb2 -r 471334725012 CAN/function_CAN.cpp --- a/CAN/function_CAN.cpp Mon Jul 13 00:43:25 2020 +0000 +++ b/CAN/function_CAN.cpp Thu Jul 16 03:37:10 2020 +0000 @@ -754,7 +754,8 @@ for(int i=0; i<num_array_f_past-1;i++){ f_past[i] = f_past[i+1]; } - f_past[num_array_f_past-1] = torq.sen; //N + //f_past[num_array_f_past-1] = torq.sen; //N + f_past[num_array_f_past-1] = torq.ref; //N //For add PI control f_future[0] = torq.sen; //N for(int i=1;i<num_array_f_future-1;i++){