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2011
Diff: function_utilities/function_utilities.cpp
- Revision:
- 214:82a3ca333004
- Parent:
- 213:9c0becc196ba
- Child:
- 215:699c3e572283
diff -r 9c0becc196ba -r 82a3ca333004 function_utilities/function_utilities.cpp --- a/function_utilities/function_utilities.cpp Thu Feb 04 05:43:47 2021 +0000 +++ b/function_utilities/function_utilities.cpp Wed Mar 03 10:56:25 2021 +0000 @@ -54,8 +54,8 @@ //float I_GAIN_JOINT_TORQUE_OPP = 0.0; //float D_GAIN_JOINT_TORQUE_OPP = 0.0; -float VALVE_DEADZONE_PLUS; -float VALVE_DEADZONE_MINUS; +int16_t VALVE_DEADZONE_PLUS; +int16_t VALVE_DEADZONE_MINUS; int16_t VELOCITY_COMP_GAIN; int16_t COMPLIANCE_GAIN; @@ -101,7 +101,7 @@ float PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f; float PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f; -int HOMEPOS_OFFSET; +int16_t HOMEPOS_OFFSET; int HOMEPOS_VALVE_OPENING; float FRICTION; @@ -124,7 +124,7 @@ int REF_MOVE_TIME_5k; int INIT_REF_PWM; int INIT_REF_VALVE_POS; -int INIT_REF_POS; +int32_t INIT_REF_POS; int INIT_REF_VEL; int INIT_REF_TORQUE; int INIT_REF_PRES_DIFF; @@ -301,6 +301,7 @@ // Current Control Variables double I_REF = 0.0f; double I_REF_fil = 0.0f; +double I_REF_fil_DZ = 0.0f; double I_ERR = 0.0f; double I_ERR_INT = 0.0f; double I_REF_fil_old = 0.0f; @@ -399,7 +400,7 @@ void ROM_CALL_DATA(void) { BNO = spi_eeprom_read(RID_BNO); - BNO = 2; + BNO = 11; OPERATING_MODE = spi_eeprom_read(RID_OPERATING_MODE); SENSING_MODE = spi_eeprom_read(RID_SENSING_MODE); CURRENT_CONTROL_MODE = spi_eeprom_read(RID_CURRENT_CONTROL_MODE); @@ -419,8 +420,8 @@ P_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_P_GAIN_JOINT_TORQUE); I_GAIN_JOINT_TORQUE = spi_eeprom_read( RID_I_GAIN_JOINT_TORQUE); D_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_D_GAIN_JOINT_TORQUE); - VALVE_DEADZONE_PLUS = (float) (spi_eeprom_read( RID_VALVE_DEADZONE_PLUS)) * 0.1f; - VALVE_DEADZONE_MINUS = (float) (spi_eeprom_read(RID_VALVE_DEADZONE_MINUS)) * 0.1f; + VALVE_DEADZONE_PLUS = (spi_eeprom_read(RID_VALVE_DEADZONE_PLUS)); + VALVE_DEADZONE_MINUS = (spi_eeprom_read(RID_VALVE_DEADZONE_MINUS)); VELOCITY_COMP_GAIN = spi_eeprom_read(RID_VELOCITY_COMP_GAIN); COMPLIANCE_GAIN = spi_eeprom_read(RID_COMPLIANCE_GAIN); VALVE_CENTER = spi_eeprom_read(RID_VALVE_CNETER);