Sungwoo Kim
/
HydraulicControlBoard_Rainbow_v1_2
rainbow
Diff: function_utilities/function_utilities.cpp
- Revision:
- 257:c93d3eabff75
- Parent:
- 239:8ac5c6162bc1
diff -r 8ac5c6162bc1 -r c93d3eabff75 function_utilities/function_utilities.cpp --- a/function_utilities/function_utilities.cpp Fri Jul 30 06:04:10 2021 +0000 +++ b/function_utilities/function_utilities.cpp Thu Mar 31 02:39:48 2022 +0000 @@ -438,13 +438,14 @@ ENC_LIMIT_PLUS = spi_eeprom_read(RID_ENC_LIMIT_PLUS); STROKE = spi_eeprom_read(RID_STROKE); ENC_PULSE_PER_POSITION = (float) (spi_eeprom_read(RID_ENC_PULSE_PER_POSITION)); - TORQUE_SENSOR_PULSE_PER_TORQUE = (float) (spi_eeprom_read(RID_TORQUE_SENSOR_PULSE_PER_TORQUE)) * 0.01f; + TORQUE_SENSOR_PULSE_PER_TORQUE = (float) (spi_eeprom_read(RID_TORQUE_SENSOR_PULSE_PER_TORQUE)) * 0.001f; PRES_SENSOR_A_PULSE_PER_BAR = (float) (spi_eeprom_read(RID_PRES_SENSOR_A_PULSE_PER_BAR)) * 0.01f; PRES_SENSOR_B_PULSE_PER_BAR = (float) (spi_eeprom_read(RID_PRES_SENSOR_B_PULSE_PER_BAR)) * 0.01f; FRICTION = (float) (spi_eeprom_read(RID_FRICTION)) * 0.1f; HOMEPOS_OFFSET = spi_eeprom_read(RID_HOMEPOS_OFFSET); HOMEPOS_VALVE_OPENING = spi_eeprom_read(RID_HOMEPOS_VALVE_OPENING); FORCE_VREF = (float) (spi_eeprom_read(RID_FORCE_SENSOR_VREF)) *0.001f; +// FORCE_VREF = 1.6f; PRES_A_VREF = (float) spi_eeprom_read(RID_PRES_A_SENSOR_VREF) * 0.001f; PRES_B_VREF = (float) spi_eeprom_read(RID_PRES_B_SENSOR_VREF) * 0.001f; VALVE_GAIN_LPM_PER_V[0] = (float) (spi_eeprom_read(RID_VALVE_GAIN_PLUS_1)) * 0.01f;