Sungwoo Kim
/
HydraulicControlBoard_Rainbow_v1_2
rainbow
Diff: function_utilities/function_utilities.cpp
- Revision:
- 244:e9c5ec04e378
- Parent:
- 243:30896263bd8b
--- a/function_utilities/function_utilities.cpp Mon Jun 13 08:48:55 2022 +0000 +++ b/function_utilities/function_utilities.cpp Fri Jun 17 06:06:53 2022 +0000 @@ -21,7 +21,7 @@ uint8_t FLAG_VALVE_DEADZONE = 0; uint8_t REFERENCE_MODE = 1; int16_t CAN_FREQ = 500; -int16_t DIR_JOINT_ENC = 0; +int16_t DIR_JOINT_ENC = 1; int16_t DIR_VALVE = 0; int16_t DIR_VALVE_ENC = 0; @@ -46,21 +46,10 @@ int16_t flag_delay_test = 0; -//float P_GAIN_VALVE_POSITION_OPP = 0.0f; -//float I_GAIN_VALVE_POSITION_OPP= 0.0f; -//float D_GAIN_VALVE_POSITION_OPP= 0.0f; -//float P_GAIN_JOINT_POSITION_OPP = 0.0f; -//float I_GAIN_JOINT_POSITION_OPP = 0.0f; -//float D_GAIN_JOINT_POSITION_OPP = 0.0f; -//float P_GAIN_JOINT_TORQUE_OPP = 0.0f; -//float I_GAIN_JOINT_TORQUE_OPP = 0.0; -//float D_GAIN_JOINT_TORQUE_OPP = 0.0; - int16_t VALVE_DEADZONE_PLUS; int16_t VALVE_DEADZONE_MINUS; int16_t VELOCITY_COMP_GAIN; -//int16_t COMPLIANCE_GAIN; int16_t VALVE_CENTER; @@ -94,9 +83,6 @@ float V_adapt = 0.0000053f; // (1256.6f + 236.4f * 39.75f) * 0.000000001f / 2 float x_4_des_old = 0.0f; -//int16_t VALVE_LIMIT_PLUS; -//int16_t VALVE_LIMIT_MINUS; - float ENC_PULSE_PER_POSITION = 1.0f; float TORQUE_SENSOR_PULSE_PER_TORQUE = 1.0f; float PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f; @@ -348,10 +334,7 @@ float K_LPF = 0.0f; float D_LPF = 0.0f; -float torq_sen_past = 0.0f; -float torq_ref_past = 0.0f; -float output_normalized = 0.0f; - +float V_EXI = 0.0f; /******************************************************************************* * General math functions