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2011
Diff: function_utilities/function_utilities.cpp
- Revision:
- 215:699c3e572283
- Parent:
- 214:82a3ca333004
- Child:
- 218:2c3e5ecbe7e1
diff -r 82a3ca333004 -r 699c3e572283 function_utilities/function_utilities.cpp --- a/function_utilities/function_utilities.cpp Wed Mar 03 10:56:25 2021 +0000 +++ b/function_utilities/function_utilities.cpp Thu Mar 11 07:27:23 2021 +0000 @@ -17,7 +17,7 @@ uint8_t CONTROL_UTILITY_MODE = 0; uint8_t CURRENT_CONTROL_MODE = 0; // (0 : pwm, 1 : current control) uint8_t FLAG_VALVE_DEADZONE = 0; -uint8_t REFERENCE_MODE = 0; +uint8_t REFERENCE_MODE = 1; int16_t CAN_FREQ = 500; int16_t DIR_JOINT_ENC = 0; int16_t DIR_VALVE = 0; @@ -113,10 +113,11 @@ float DAC_REF; float DAC_RESOL; -int REF_POSITION; -int REF_VELOCITY; -int16_t REF_TORQUE; -int16_t REF_PRES_DIFF; +float REF_POSITION; +float REF_VELOCITY; +float REF_TORQUE; +float REF_TORQUE_OLD; +float REF_PRES_DIFF; int16_t REF_PWM; int16_t REF_VALVE_POSITION; int16_t REF_CURRENT; @@ -287,6 +288,20 @@ int FINDHOME_POSITION = 0; int FINDHOME_POSITION_OLD = 0; +int cnt_finddz = 0; +int cnt_vel_finddz = 0; +int flag_finddz = 0; +int FINDDZ_VELOCITY = 0; +int FINDDZ_VELOCITY_OLD = 0; +int FINDDZ_POSITION = 0; +int FINDDZ_POSITION_OLD = 0; + +double temp_VALVE_DEADZONE_PLUS = 0.0f; +double temp_VALVE_DEADZONE_MINUS = 0.0f; +float temp_pos_ref = 0.0f; +float temp_pos_ref_offset = 0.0f; + + // valve gain int check_vel_pos_init = 0; int check_vel_pos_fin = 0; @@ -328,6 +343,12 @@ int FINDHOME_GOTOLIMIT = 1; int FINDHOME_ZEROPOSE = 2; +int FINDDZ_STAGE = 0; +int FINDDZ_INIT = 0; +int FINDDZ_START1 = 1; +int FINDDZ_START2 = 2; +int FINDDZ_STOP = 3; + float alpha_trans = 0.0f; float V_out=0.0f; @@ -389,7 +410,6 @@ for (i = 0; i < 1000000; i++) { ; } - }