Diff: CAN/function_CAN.cpp

Revision:

239:a08f301231f1

Parent:

238:91d3ec3a087e

--- a/CAN/function_CAN.cpp	Fri Jul 01 05:37:08 2022 +0000
+++ b/CAN/function_CAN.cpp	Wed Jul 06 08:08:15 2022 +0000
@@ -727,21 +727,23 @@
         int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
 
         if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
-            valve_pos.ref = (double) temp_ref_valve_pos; // Unit : pulse (0~10000)
+            valve_pos.ref = (float) temp_ref_valve_pos; // Unit : pulse (0~10000)
         } else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
-            valve_pos.ref = (double) temp_ref_valve_pos; // Unit : pulse (0~30000)
+            valve_pos.ref = (float) temp_ref_valve_pos; // Unit : pulse (0~30000)
         } else { //SW Valve
-            if(temp_ref_valve_pos >= 0) {
-                valve_pos.ref = (double)VALVE_DEADZONE_PLUS + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_DEADZONE_PLUS)/10000.0f;
-//                valve_pos.ref = (double)temp_ref_valve_pos;
+            if(temp_ref_valve_pos == 0) {
+                valve_pos.ref = ((float)VALVE_DEADZONE_PLUS + (float)VALVE_DEADZONE_MINUS) * 0.5f;
+            } else if(temp_ref_valve_pos> 0) {
+                valve_pos.ref = (float)VALVE_DEADZONE_PLUS + (float)temp_ref_valve_pos * ((float)VALVE_MAX_POS-(float)VALVE_DEADZONE_PLUS)/10000.0f;
+//                valve_pos.ref = (float)temp_ref_valve_pos;
             } else {
-                valve_pos.ref = (double)VALVE_DEADZONE_MINUS - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_DEADZONE_MINUS)/10000.0f;
-//                valve_pos.ref = (double)temp_ref_valve_pos;
+                valve_pos.ref = (float)VALVE_DEADZONE_MINUS - (float)temp_ref_valve_pos * ((float)VALVE_MIN_POS-(float)VALVE_DEADZONE_MINUS)/10000.0f;
+//                valve_pos.ref = (float)temp_ref_valve_pos;
             }
         }
     } else if(address==CID_RX_REF_PWM) {
         int temp_ref_pwm = (int16_t) (msg.data[0] | msg.data[1] << 8);
-        Vout.ref = (double) temp_ref_pwm;
+        Vout.ref = (float) temp_ref_pwm;
     }
 
 }