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Original Version of STM Board
Diff: main.cpp
- Revision:
- 36:a46e63505ed8
- Parent:
- 35:34ce7b0347b8
- Child:
- 38:118df027d851
diff -r 34ce7b0347b8 -r a46e63505ed8 main.cpp --- a/main.cpp Wed Nov 20 12:55:18 2019 +0000 +++ b/main.cpp Fri Nov 22 08:03:52 2019 +0000 @@ -258,7 +258,7 @@ } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; } - + //VELOCITY_COMP_GAIN = 20; //CAN_TX_PRES((int16_t)(Ref_Valve_Pos_FF), (int16_t) (7)); Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER) + DDV_CENTER; @@ -1756,3 +1756,4 @@ +