Sungwoo Kim
/
HydraulicControlBoard_Rainbow_v1_2
rainbow
Revision 231:e00e71ca3e80, committed 2021-04-27
- Comitter:
- Lightvalve
- Date:
- Tue Apr 27 11:31:49 2021 +0000
- Parent:
- 230:2c3e5ecbe7e1
- Child:
- 232:2976cf1b4252
- Commit message:
- 210427
Changed in this revision
--- a/CAN/function_CAN.cpp Wed Apr 21 04:20:39 2021 +0000 +++ b/CAN/function_CAN.cpp Tue Apr 27 11:31:49 2021 +0000 @@ -694,9 +694,9 @@ // Position, Velocity, and Torque (ID:1200) if (flag_data_request[0] == HIGH) { if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator - CAN_TX_POSITION_FT((int16_t) (pos.sen*ENC_PULSE_PER_POSITION), (int16_t) (vel.sen*ENC_PULSE_PER_POSITION*0.1f), (int16_t) (torq.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f)); + CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (torq.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f)); } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator - CAN_TX_POSITION_FT((int16_t) (pos.sen*ENC_PULSE_PER_POSITION*0.25f), (int16_t) (vel.sen*ENC_PULSE_PER_POSITION*0.01f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f)); + CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f)); } }
--- a/function_utilities/function_utilities.cpp Wed Apr 21 04:20:39 2021 +0000 +++ b/function_utilities/function_utilities.cpp Tue Apr 27 11:31:49 2021 +0000 @@ -398,7 +398,7 @@ void ROM_CALL_DATA(void) { BNO = spi_eeprom_read(RID_BNO); - BNO = 11; +// BNO = 11; OPERATING_MODE = spi_eeprom_read(RID_OPERATING_MODE); SENSING_MODE = spi_eeprom_read(RID_SENSING_MODE); CURRENT_CONTROL_MODE = spi_eeprom_read(RID_CURRENT_CONTROL_MODE);
--- a/main.cpp Wed Apr 21 04:20:39 2021 +0000 +++ b/main.cpp Tue Apr 27 11:31:49 2021 +0000 @@ -238,7 +238,7 @@ make_delay(); ////// bno rom -// spi_eeprom_write(RID_BNO, (int16_t)1); +// spi_eeprom_write(RID_BNO, (int16_t) 4); // make_delay(); //////// @@ -1004,9 +1004,9 @@ // Position, Velocity, and Torque (ID:1200) if (flag_data_request[0] == HIGH) { if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator - CAN_TX_POSITION_FT((int16_t) (pos.sen*ENC_PULSE_PER_POSITION), (int16_t) (vel.sen*ENC_PULSE_PER_POSITION*0.1f), (int16_t) (torq.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f)); + CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (torq.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*8.0f)); } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator - CAN_TX_POSITION_FT((int16_t) (pos.sen*ENC_PULSE_PER_POSITION*0.25f), (int16_t) (vel.sen*ENC_PULSE_PER_POSITION*0.01f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f)); + CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*8.0f)); } }