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2011
Diff: CAN/function_CAN.cpp
- Revision:
- 220:2976cf1b4252
- Parent:
- 219:e00e71ca3e80
- Child:
- 225:c2cfe349f5c1
diff -r e00e71ca3e80 -r 2976cf1b4252 CAN/function_CAN.cpp --- a/CAN/function_CAN.cpp Tue Apr 27 11:31:49 2021 +0000 +++ b/CAN/function_CAN.cpp Mon May 31 07:19:49 2021 +0000 @@ -506,8 +506,8 @@ } case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: { - TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] | msg.data[2] << 8) * 0.0001f); - spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) (TORQUE_SENSOR_PULSE_PER_TORQUE*10000.0f)); + TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] | msg.data[2] << 8) * 0.01f); + spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) (TORQUE_SENSOR_PULSE_PER_TORQUE*100.0f)); break; } @@ -671,12 +671,12 @@ int16_t temp_torq = (int16_t) (msg.data[4] | msg.data[5] << 8); if((OPERATING_MODE&0b001)==0) { // Rotary Actuator - REF_POSITION = (float)temp_pos * 1.0f / ENC_PULSE_PER_POSITION; // pulse >> deg - REF_VELOCITY = (float)temp_vel * 10.0f / ENC_PULSE_PER_POSITION; // pulse/s >> deg/s - REF_TORQUE = (float)temp_torq * 0.01f / TORQUE_SENSOR_PULSE_PER_TORQUE; // pulse >> Nm + REF_POSITION = (float)temp_pos / 200.0f; + REF_VELOCITY = (float)temp_vel / 20.0f; + REF_TORQUE = (float)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE; // pulse >> Nm } else { //Linear Actuator - REF_POSITION = (float)temp_pos * 4.0f / ENC_PULSE_PER_POSITION; // pulse >> mm - REF_VELOCITY = (float)temp_vel * 100.0f / ENC_PULSE_PER_POSITION; // pulse/s >> mm/s + REF_POSITION = (float)temp_pos / 200.0f; + REF_VELOCITY = (float)temp_vel / 20.0f; REF_FORCE = (float)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE; // pulse >> N } @@ -1107,7 +1107,7 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE; - int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 10000.0f); + int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f); temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque; temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);