Sungwoo Kim
/
HydraulicControlBoard_Rainbow_v1_2_copy1
2011
Diff: CAN/function_CAN.h
- Revision:
- 238:4e660aa77eb7
- Parent:
- 237:c2cfe349f5c1
- Child:
- 243:30896263bd8b
--- a/CAN/function_CAN.h Wed Jul 07 10:09:21 2021 +0000 +++ b/CAN/function_CAN.h Tue Jul 13 01:40:56 2021 +0000 @@ -55,8 +55,8 @@ #define CRX_SET_VALVE_DEADZONE 121 #define CRX_ASK_VELOCITY_COMP_GAIN 22 #define CRX_SET_VELOCITY_COMP_GAIN 122 -#define CRX_ASK_COMPLIANCE_GAIN 23 -#define CRX_SET_COMPLIANCE_GAIN 123 +#define CRX_ASK_VALVE_ELECTRIC_CENTER 23 +#define CRX_SET_VALVE_ELECTRIC_CENTER 123 #define CRX_ASK_VALVE_FF 25 #define CRX_SET_VALVE_FF 125 #define CRX_ASK_BULK_MODULUS 26 @@ -126,7 +126,7 @@ #define CTX_SEND_PID_GAIN 20 #define CTX_SEND_VALVE_DEADZONE 21 #define CTX_SEND_VELOCITY_COMP_GAIN 22 -#define CTX_SEND_COMPLIANCE_GAIN 23 +#define CTX_SEND_VALVE_ELECTRIC_CENTER 23 #define CTX_SEND_VALVE_FF 25 #define CTX_SEND_BULK_MODULUS 26 #define CTX_SEND_CHAMBER_VOLUME 27 @@ -179,7 +179,7 @@ void CAN_TX_PID_GAIN(int t_type); void CAN_TX_VALVE_DEADZONE(void); void CAN_TX_VELOCITY_COMP_GAIN(void); -void CAN_TX_COMPLIANCE_GAIN(void); +void CAN_TX_VALVE_ELECTRIC_CENTER(void); void CAN_TX_VALVE_FF(void); void CAN_TX_BULK_MODULUS(void); void CAN_TX_CHAMBER_VOLUME(void); @@ -240,6 +240,7 @@ extern State pres_B; extern State cur; extern State valve_pos; +extern State valve_pos_raw; extern State INIT_Vout; extern State INIT_Valve_Pos;