Sungwoo Kim
/
HydraulicControlBoard_Rainbow_v1_2_copy
2011
Diff: CAN/function_CAN.cpp
- Revision:
- 200:ebc69d6ee6f1
- Parent:
- 187:637092202815
- Child:
- 212:985dba42f261
--- a/CAN/function_CAN.cpp Tue Dec 22 04:55:59 2020 +0000 +++ b/CAN/function_CAN.cpp Wed Dec 23 00:39:47 2020 +0000 @@ -789,7 +789,9 @@ torq.ref = (double)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE; //N torq.ref_diff = torq.ref - torq.ref_old; + torq_dot.sen = torq.sen-totq_sen_past; torq.ref_old = torq.ref; + totq_sen_past = torq.sen; ///////////////Make Data/////////////////// for(int i=0; i<num_array_u_past-1; i++) {