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rainbow
Diff: function_utilities/function_utilities.cpp
- Revision:
- 52:8ea76864368a
- Parent:
- 50:3c630b5eba9f
- Child:
- 53:4d66fb1c5dd9
- Child:
- 54:647072f5307a
--- a/function_utilities/function_utilities.cpp Wed Feb 19 00:44:07 2020 +0000 +++ b/function_utilities/function_utilities.cpp Wed Feb 19 05:48:57 2020 +0000 @@ -15,7 +15,10 @@ // Board Information uint8_t BNO = 0; uint8_t CONTROL_MODE = 0; -uint8_t OPERATING_MODE = 0; +uint8_t OPERATING_MODE = 0; // (00 : Moog & Rot, 01 : Moog & Lin, 10 : KNR & Rot, 11 : KNR & Lin) +uint8_t SENSING_MODE = 0; // (0 : torque, 1: pressure) +uint8_t CURRENT_CONTROL_MODE = 0; // (0 : pwm, 1 : current control) +uint8_t FLAG_VALVE_DEADZONE = 0; uint8_t SETTING_SWITCH = 0; uint8_t SETTING_SWITCH_OLD = 0; uint8_t REFERENCE_MODE = 0; @@ -360,6 +363,9 @@ writer.write(RID_BNO,(int) BNO); // write at address, 쓸때도 4byte씩 씀 writer.write(RID_OPERATING_MODE,(int) OPERATING_MODE); + writer.write(RID_SENSING_MODE, (int) SENSING_MODE); + writer.write(RID_CURRENT_CONTROL_MODE, (int) CURRENT_CONTROL_MODE); + writer.write(RID_FLAG_VALVE_DEADZONE, (int) FLAG_VALVE_DEADZONE); writer.write(RID_CAN_FREQ,(int) CAN_FREQ); writer.write(RID_JOINT_ENC_DIR,(int) DIR_JOINT_ENC); writer.write(RID_VALVE_DIR,(int) DIR_VALVE); @@ -436,6 +442,9 @@ { BNO = flashReadInt(Rom_Sector, RID_BNO); OPERATING_MODE = flashReadInt(Rom_Sector, RID_OPERATING_MODE); + SENSING_MODE = flashReadInt(Rom_Sector, RID_SENSING_MODE); + CURRENT_CONTROL_MODE = flashReadInt(Rom_Sector, RID_CURRENT_CONTROL_MODE); + FLAG_VALVE_DEADZONE = flashReadInt(Rom_Sector, RID_FLAG_VALVE_DEADZONE); CAN_FREQ = flashReadInt(Rom_Sector, RID_CAN_FREQ); DIR_JOINT_ENC = flashReadInt(Rom_Sector, RID_JOINT_ENC_DIR); DIR_VALVE = flashReadInt(Rom_Sector, RID_VALVE_DIR);