Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_

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Dependencies:   mbed FastPWM

Diff: CAN/function_CAN.cpp

Revision:
238:4e660aa77eb7
Parent:
237:c2cfe349f5c1
Child:
240:fb5b57e3f157
--- a/CAN/function_CAN.cpp	Wed Jul 07 10:09:21 2021 +0000
+++ b/CAN/function_CAN.cpp	Tue Jul 13 01:40:56 2021 +0000
@@ -355,17 +355,17 @@
             break;
         }
 
-        case CRX_ASK_COMPLIANCE_GAIN: {
-            CAN_TX_COMPLIANCE_GAIN();
+        case CRX_ASK_VALVE_ELECTRIC_CENTER: {
+            CAN_TX_VALVE_ELECTRIC_CENTER();
 
             break;
         }
 
-        case CRX_SET_COMPLIANCE_GAIN: {
-            COMPLIANCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
+        case CRX_SET_VALVE_ELECTRIC_CENTER: {
+            VALVE_ELECTRIC_CENTER = (int16_t) (msg.data[1] | msg.data[2] << 8);
 
 
-            spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
+            spi_eeprom_write(RID_VALVE_ELECTRIC_CENTER, (int16_t) VALVE_ELECTRIC_CENTER);
 
             break;
         }
@@ -736,9 +736,11 @@
             valve_pos.ref = (double) temp_ref_valve_pos; // Unit : pulse (0~30000)
         } else { //SW Valve
             if(temp_ref_valve_pos >= 0) {
-                valve_pos.ref = (double)VALVE_ELECTRIC_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
+//                valve_pos.ref = (double)VALVE_ELECTRIC_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
+                valve_pos.ref = (double)temp_ref_valve_pos; // -10000~10000
             } else {
-                valve_pos.ref = (double)VALVE_ELECTRIC_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
+//                valve_pos.ref = (double)VALVE_ELECTRIC_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
+                valve_pos.ref = (double)temp_ref_valve_pos; // -10000~10000
             }
         }
     } else if(address==CID_RX_REF_PWM) {
@@ -974,15 +976,15 @@
     can.write(temp_msg);
 }
 
-void CAN_TX_COMPLIANCE_GAIN(void)
+void CAN_TX_VALVE_ELECTRIC_CENTER(void)
 {
     CANMessage temp_msg;
 
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 3;
-    temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
-    temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
-    temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ELECTRIC_CENTER;
+    temp_msg.data[1] = (uint8_t) VALVE_ELECTRIC_CENTER;
+    temp_msg.data[2] = (uint8_t) (VALVE_ELECTRIC_CENTER >> 8);
 
     can.write(temp_msg);
 }