Diff: CAN/function_CAN.cpp

Revision:

232:2976cf1b4252

Parent:

231:e00e71ca3e80

Child:

237:c2cfe349f5c1

--- 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);